Two main classes of reflexes relying on the vestibular system are involved in the stabilization of the human gaze: The vestibulocollic reflex (VCR), which stabilizes the head in space and the vestibulo-ocular reflex (VOR), which stabilizes the visual axis to minimize retinal image motion. The VOR works in conjunction with the opto-kinetic reflex (OKR), which is a visual feedback mechanism for moving the eye at the same speed as the observed scene. Together they keep the image stationary on the retina. In this work we present the first complete model of gaze stabilization based on the coordination of VCR and VOR and OKR. The model, inspired on neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform confirm the effectiveness of our approach.
Adaptive gaze stabilization through cerebellar internal models in a humanoid robot
2016-01-01
Vannucci , L , Tolu , S , Falotico , E , Dario , P , Lund , H H & Laschi , C 2016 , Adaptive gaze stabilization through cerebellar internal models in a humanoid robot . in Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics . IEEE , pp. 25-30 , 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics , Singapore , Singapore , 26/06/2016 . https://doi.org/10.1109/BIOROB.2016.7523593
Article (Journal)
Electronic Resource
English
stability , adaptive control , eye , gaze tracking , humanoid robots , medical robotics , neuroscientific cerebellar theories , adaptive gaze stabilization , cerebellar internal models , humanoid robot , vestibular system , human gaze stabilization , vestibulocollic reflex , VCR , vestibulo-ocular reflex , VOR , visual axis , retinal image motion , opto-kinetic reflex , OKR , visual feedback mechanism , eye movement , Head , Adaptation models , Video recording , Robots , Magnetic heads , Retina , Computational modeling , Artificial Intelligence , Biomedical Engineering , Mechanical Engineering , Aldehydes , Anthropomorphic robots , Brain , Neurophysiology , Robotics , Visual communication , Internal models , Learning and adaptation , Retinal image , Visual feedback , Stabilization , Biological and medical control systems , Stability in control theory , Self-adjusting control systems
DDC: | 629 |
A comprehensive gaze stabilization controller based on cerebellar internal models
BASE | 2017
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