2P1-F06 Binocular motor control system integrating Saccade, Smooth Pursuit and VOR(Biorobotics (2))
Yoneyama Ryo, Xiaolin Zhang · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
In recent years, expectations for mobile robots and humanoid robots which work in the human living environment is growing. Such a robot needs vision system to obtain information about the outside world. However, in traditional vision system, it is difficult to obtain information stably. On the other hand, humans solve this problem by information processing and eye movement characteristics of retina. We tried to realize a behavior of human eye movement by making binocular control model based on physiology and anatomy. However, in traditional model, the accuracy of Saccade is insufficient and there is a possibility of runaway. The purpose of this study is to propose a new method of Saccade and a binocular control model integrating Saccade, Smooth Pursuit and VOR. In addition, by implementing proposed model in binocular robot, we confirm the superiority of proposal model.