Conference paper
Eye-head stabilization mechanism for a humanoid robot tested on human inertial data
Sant'Anna School of Advanced Studies1
Department of Electrical Engineering, Technical University of Denmark2
Automation and Control, Department of Electrical Engineering, Technical University of Denmark3
Centre for Playware, Centers, Technical University of Denmark4
Copenhagen Center for Health Technology, Centers, Technical University of Denmark5
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. Together they keep the image stationary on the retina.
In this work we present the first complete model of eye-head stabilization based on the coordination of VCR and VOR. The model is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform replicating torso disturbance acquired on human subject performing various locomotion tasks confirm the effectiveness of our approach.
| Language: | English |
|---|---|
| Publisher: | Springer International Publishing |
| Year: | 2016 |
| Pages: | 341-352 |
| Proceedings: | 5<sup>th</sup> International Conference on Biomimetic and Biohybrid Systems |
| ISBN: | 3319424165 , 3319424173 , 9783319424163 and 9783319424170 |
| ISSN: | 16113349 and 03029743 |
| Types: | Conference paper |
| DOI: | 10.1007/978-3-319-42417-0_31 |
| ORCIDs: | Tolu, Silvia and Lund, Henrik Hautop |
Aldehydes Anthropomorphic robots Biomimetics Computer Science (all) Eye-head coordination Head stabilization Humanoid robot Humanoid robotics Internal models Learning and adaptation Mobile robots Stability in control theory Stabilization Theoretical Computer Science VCR VOR Vestibular system Vestibulo-ocular reflex Videocassette recorders eye-head stabilization mechanism human inertial data humanoid robot humanoid robots locomotion tasks stability torso disturbance vestibulo-ocular reflex vestibulocollic reflex
