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Publication Details

Reference TypeConference Proceedings
Author(s)Shibata, T.;Schaal, S.
TitleBiomimetic smooth pursuit based on fast learning of the target dynamics
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2001)
Keywordsoculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics
AbstractFollowing a moving target with a narrow-view foveal vision system is one of the essential oculomotor behaviors of humans and humanoids. This oculomotor behavior, called ``Smooth Pursuit'', requires accurate tracking control which cannot be achieved by a simple visual negative feedback controller due to the significant delays in visual information processing. In this paper, we present a biologically inspired and control theoretically sound smooth pursuit controller consisting of two cascaded subsystems. One is an inverse model controller for the oculomotor system, and the other is a learning controller for the dynamics of the visual target. The latter controller learns how to predict the target's motion in head coordinates such that tracking performance can be improved. We investigate our smooth pursuit system in simulations and experiments on a humanoid robot. By using a fast on-line statistical learning network, our humanoid oculomotor system is able to acquire high performance smooth pursuit after about 5 seconds of learning despite significant processing delays in the syste
Short TitleBiomimetic smooth pursuit based on fast learning of the target dynamics

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