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Humanoid oculomotor control based on concepts of computational neuroscience

2001

Conference Paper

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Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e., the stabilization of gaze in face of unknown perturbations of the body, selective attention, the complexity of stereo vision and dealing with large information processing delays. In this paper, we suggest control circuits to realize three of the most basic oculomotor behaviors - 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 was derived from inspirations from computational neuroscience, which proves to be a viable strategy to explore novel control mechanisms for humanoid robotics. Our implementations on a humanoid robot demonstrate good performance of the oculomotor behaviors that appears natural and human-like.

Author(s): Shibata, T. and Vijayakumar, S. and Conradt, J. and Schaal, S.
Book Title: Humanoids2001, Second IEEE-RAS International Conference on Humanoid Robots
Year: 2001

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Cross Ref: p1597
Note: clmc
URL: http://www-clmc.usc.edu/publications/S/shibata-ICHR2001.pdf

BibTex

@inproceedings{Shibata_HSIICHR_2001,
  title = {Humanoid oculomotor control based on concepts of computational neuroscience},
  author = {Shibata, T. and Vijayakumar, S. and Conradt, J. and Schaal, S.},
  booktitle = {Humanoids2001, Second IEEE-RAS International Conference on Humanoid Robots},
  year = {2001},
  note = {clmc},
  crossref = {p1597},
  url = {http://www-clmc.usc.edu/publications/S/shibata-ICHR2001.pdf}
}