A Biologically Inspired Controller For Fast Eye Movements

摘要：

We describe and test a non-linear control algorithm inspired by the behavior of motor neurons in humans and other animals during extremely fast saccadic eye movements. The algorithm is implemented on a robotic eye, which includes a stiff camera cable, similar to the optic nerve, which adds a complicated non-linear stiffness to the plant. For high speed movement, our “pulse-step controller operates openloop using an internal model of the eye plant learned from past measurements. We show that the controller approaches the performance seen in the human eye, producing fast movements with little overshoot. Interestingly, the controller reproduces the main sequence relationship observed in animal eye movements.

作者: Martin Lesmana Dinesh K. Pai

作者单位: Sensorimotor Systems Laboratory,Department of Computer Science,University of British Columbia,2366 Main Mall,Vancouver,B.C.,Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3670-3675

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）