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Biomimetic oculomotor control




Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e., capturing targets accurately on a very narrow fovea, dealing with large delays in the control system, the stabilization of gaze in face of unknown perturbations of the body, selective attention, and the complexity of stereo vision. In this paper, we suggest control circuits to realize three of the most basic oculomotor behaviors and their integration - the vestibulo-ocular and optokinetic reflex (VOR-OKR) for gaze stabilization, smooth pursuit for tracking moving objects, and saccades for overt visual attention. Each of these behaviors and the mechanism for their integration was derived with inspiration from computational theories as well as behavioral and physiological data in neuroscience. Our implementations on a humanoid robot demonstrate good performance of the oculomotor behaviors, which proves to be a viable strategy to explore novel control mechanisms for humanoid robotics. Conversely, insights gained from our models have been able to directly influence views and provide new directions for computational neuroscience research.

Author(s): Shibata, T. and Vijayakumar, S. and Conradt, J. and Schaal, S.
Book Title: Adaptive Behavior
Volume: 9
Number (issue): 3/4
Pages: 189-207
Year: 2001

Department(s): Autonome Motorik
Bibtex Type: Article (article)

Cross Ref: p1596
Note: clmc
URL: http://www-clmc.usc.edu/publications/S/shibata-AB2001.pdf


  title = {Biomimetic oculomotor control},
  author = {Shibata, T. and Vijayakumar, S. and Conradt, J. and Schaal, S.},
  booktitle = {Adaptive Behavior},
  volume = {9},
  number = {3/4},
  pages = {189-207},
  year = {2001},
  note = {clmc},
  crossref = {p1596},
  url = {http://www-clmc.usc.edu/publications/S/shibata-AB2001.pdf}