Biomimetic gaze stabilization
2000
Book Chapter
am
Accurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.
Author(s): | Shibata, T. and Schaal, S. |
Book Title: | Robot learning: an Interdisciplinary approach |
Pages: | 31-52 |
Year: | 2000 |
Editors: | Demiris, J.;Birk, A. |
Publisher: | World Scientific |
Department(s): | Autonome Motorik |
Bibtex Type: | Book Chapter (inbook) |
Cross Ref: | p1268 |
Note: | clmc |
URL: | http://www-clmc.usc.edu/publications/S/shibata-RLIA2000.pdf |
BibTex @inbook{Shibata_RI_2000, title = {Biomimetic gaze stabilization}, author = {Shibata, T. and Schaal, S.}, booktitle = {Robot learning: an Interdisciplinary approach}, pages = {31-52}, editors = {Demiris, J.;Birk, A.}, publisher = {World Scientific}, year = {2000}, note = {clmc}, doi = {}, crossref = {p1268}, url = {http://www-clmc.usc.edu/publications/S/shibata-RLIA2000.pdf} } |