Adaptive gaze stabilization through cerebellar internal models in a humanoid robot

Lorenzo Vannucci; Silvia Tolu; Egidio Falotico; Paolo Dario; Henrik Hautop  Lund; Cecilia Laschi

doi:10.1109/BIOROB.2016.7523593

Adaptive gaze stabilization through cerebellar internal models in a humanoid robot

Lorenzo Vannucci, Silvia Tolu, Egidio Falotico, Paolo Dario, Henrik Hautop Lund, Cecilia Laschi

Copenhagen Center for Health Technology

Sant'Anna School of Advanced Studies

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

Two main classes of reflexes relying on the vestibular system are involved in the stabilization of the human gaze: 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 for moving the eye at the same speed as the observed scene. Together they keep the image stationary on the retina. In this work we present the first complete model of gaze stabilization based on the coordination of VCR and VOR and OKR. The model, inspired on neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform confirm the effectiveness of our approach.

Original language	English
Title of host publication	Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE
Publication date	2016
Pages	25-30
ISBN (Print)	978-1-5090-3287-7
DOIs	https://doi.org/10.1109/BIOROB.2016.7523593
Publication status	Published - 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics - University Town, Singapore, Singapore Duration: 26 Jun 2016 → 29 Jun 2016 Conference number: 6

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Number	6
Location	University Town
Country/Territory	Singapore
City	Singapore
Period	26/06/2016 → 29/06/2016

Keywords

stability
adaptive control
eye
gaze tracking
humanoid robots
medical robotics
neuroscientific cerebellar theories
adaptive gaze stabilization
cerebellar internal models
humanoid robot
vestibular system
human gaze stabilization
vestibulocollic reflex
VCR
vestibulo-ocular reflex
VOR
visual axis
retinal image motion
opto-kinetic reflex
OKR
visual feedback mechanism
eye movement
Head
Adaptation models
Video recording
Robots
Magnetic heads
Retina
Computational modeling
Artificial Intelligence
Biomedical Engineering
Mechanical Engineering
Aldehydes
Anthropomorphic robots
Brain
Neurophysiology
Robotics
Visual communication
Humanoid robot
Internal models
Learning and adaptation
Retinal image
Vestibular system
Vestibulo-ocular reflex
Visual feedback
Stabilization
Biological and medical control systems
Stability in control theory
Self-adjusting control systems

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10.1109/BIOROB.2016.7523593

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title = "Adaptive gaze stabilization through cerebellar internal models in a humanoid robot",

abstract = "Two main classes of reflexes relying on the vestibular system are involved in the stabilization of the human gaze: 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 for moving the eye at the same speed as the observed scene. Together they keep the image stationary on the retina. In this work we present the first complete model of gaze stabilization based on the coordination of VCR and VOR and OKR. The model, inspired on neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform confirm the effectiveness of our approach.",

keywords = "stability, adaptive control, eye, gaze tracking, humanoid robots, medical robotics, neuroscientific cerebellar theories, adaptive gaze stabilization, cerebellar internal models, humanoid robot, vestibular system, human gaze stabilization, vestibulocollic reflex, VCR, vestibulo-ocular reflex, VOR, visual axis, retinal image motion, opto-kinetic reflex, OKR, visual feedback mechanism, eye movement, Head, Adaptation models, Video recording, Robots, Magnetic heads, Retina, Computational modeling, Artificial Intelligence, Biomedical Engineering, Mechanical Engineering, Aldehydes, Anthropomorphic robots, Brain, Neurophysiology, Robotics, Visual communication, Humanoid robot, Internal models, Learning and adaptation, Retinal image, Vestibular system, Vestibulo-ocular reflex, Visual feedback, Stabilization, Biological and medical control systems, Stability in control theory, Self-adjusting control systems",

author = "Lorenzo Vannucci and Silvia Tolu and Egidio Falotico and Paolo Dario and Lund, {Henrik Hautop} and Cecilia Laschi",

year = "2016",

doi = "10.1109/BIOROB.2016.7523593",

language = "English",

isbn = "978-1-5090-3287-7",

pages = "25--30",

booktitle = "Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE",

address = "United States",

note = "6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 ; Conference date: 26-06-2016 Through 29-06-2016",

}

Vannucci, L, Tolu, S, Falotico, E, Dario, P, Lund, HH & Laschi, C 2016, Adaptive gaze stabilization through cerebellar internal models in a humanoid robot. in Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE, pp. 25-30, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Singapore, Singapore, 26/06/2016. https://doi.org/10.1109/BIOROB.2016.7523593

Adaptive gaze stabilization through cerebellar internal models in a humanoid robot. / Vannucci, Lorenzo; Tolu, Silvia; Falotico, Egidio et al.
Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE, 2016. p. 25-30.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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AU - Dario, Paolo

AU - Lund, Henrik Hautop

AU - Laschi, Cecilia

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KW - visual feedback mechanism

KW - eye movement

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KW - Adaptation models

KW - Video recording

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KW - Magnetic heads

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KW - Computational modeling

KW - Artificial Intelligence

KW - Biomedical Engineering

KW - Mechanical Engineering

KW - Aldehydes

KW - Anthropomorphic robots

KW - Brain

KW - Neurophysiology

KW - Robotics

KW - Visual communication

KW - Humanoid robot

KW - Internal models

KW - Learning and adaptation

KW - Retinal image

KW - Vestibular system

KW - Vestibulo-ocular reflex

KW - Visual feedback

KW - Stabilization

KW - Biological and medical control systems

KW - Stability in control theory

KW - Self-adjusting control systems

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DO - 10.1109/BIOROB.2016.7523593

M3 - Article in proceedings

SN - 978-1-5090-3287-7

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BT - Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

PB - IEEE

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Y2 - 26 June 2016 through 29 June 2016

ER -

Adaptive gaze stabilization through cerebellar internal models in a humanoid robot

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Conference

Keywords

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