Eye-centered vs body-centered reaching control: A robotics insight into the neuroscience debate
Whether the central nervous system of primates uses a body-centered or an eye-centered frame for reaching is still a controversial debate in neurosciences. Does the proprioceptive information allow to represent the visual information with respect to the body or inversely, does it transform the hand position in retinal coordinates? In this paper, we implement and test two control schemes associated to each of these two hypotheses by using a computational approach from robotics. To this end, biological models of motor control are applied to a realistic dynamic model of upper body including a 4 DOF eye-neck kinematic chain and a 6DOF arm. Important characteristics, such as proprioceptive biases and sensory delay, are considered. Simulation results allow to compare the geometry of trajectories and illustrate the better robustness of the eye-centered control scheme with respect to biases and sensory delay. Applications to the control of the humanoid robot HRP2 are finally presented.
Tran Minh Tuan Philippe Souères Michel Ta(i)x Beno(i)t Girard
CNRS LAAS 7,av.Du Colonel Roche,31077 Toulouse,France Université de Toulouse UPS,INSA,INP,ISAE LAAS ISIR,UPMC/CNRS,4 place Jussieu,University Paris 6,F-75252 Paris,France
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
568-573
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）