ICRA 2011 Paper Abstract


Paper WeP107.5

Lesmana, Martin (University of British Columbia), Pai, Dinesh K. (Unviersity of British Columbia)

A Biologically Inspired Controller for Fast Eye Movements

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots VI" (WeP107), Wednesday, May 11, 2011, 14:40−14:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Biologically-Inspired Robots, Biomimetics


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 of movement, our ``pulse-step'' controller operates open-loop 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.



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