A comprehensive gaze stabilization controller based on cerebellar internal models

Gaze stabilization is essential for clear vision; it is the combined effect of two reflexes relying on vestibular inputs: the vestibulocollic reflex (VCR), which stabilizes the head in space and the vestibulo-ocular reflex (VOR), which stabilizes the visual axis to minimize retinal image motion. The VOR works in conjunction with the opto-kinetic reflex (OKR), which is a visual feedback mechanism that allows to move the eye at the same speed as the observed scene. Together they keep the image stationary on the retina. In this work we implement on a humanoid robot a model of gaze stabilization based on the coordination of VCR and VOR and OKR. The model, inspired by neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models. We present the results for the gaze stabilization model on three sets of experiments conducted on the SABIAN robot and on the iCub simulator, validating the robustness of the proposed control method. The first set of experiments focused on the controller response to a set of disturbance frequencies along the vertical plane. The second shows the performances of the system under three-dimensional disturbances. The last set of experiments was carried out to test the capability of the proposed model to stabilize the gaze in locomotion tasks. The results confirm that the proposed model is beneficial in all cases reducing the retinal slip (velocity of the image on the retina) and keeping the orientation of the head stable.