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Publication Details

Reference TypeBook Section
Author(s)Shibata, T.;Schaal, S.
TitleBiomimetic gaze stabilization
Journal/Conference/Book TitleRobot learning: an Interdisciplinary approach
Keywordsoculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning
AbstractAccurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.
Editor(s)Demiris, J.;Birk, A.
PublisherWorld Scientific
Tertiary TitleRobotics and intelligent system
Short TitleBiomimetic gaze stabilization

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