Eye-head stabilization mechanism for a humanoid robot tested on human inertial data

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

doi:10.1007/978-3-319-42417-0_31

Eye-head stabilization mechanism for a humanoid robot tested on human inertial data

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

Copenhagen Center for Health Technology

Sant'Anna School of Advanced Studies

Research output: Contribution to journal › Conference article › Research › peer-review

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. Together they keep the image stationary on the retina. In this work we present the first complete model of eye-head stabilization based on the coordination of VCR and VOR. The model is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform replicating torso disturbance acquired on human subject performing various locomotion tasks confirm the effectiveness of our approach.

Original language	English
Book series	Lecture Notes in Computer Science
Volume	9793
Pages (from-to)	341-352
ISSN	0302-9743
DOIs	https://doi.org/10.1007/978-3-319-42417-0_31
Publication status	Published - 2016
Event	5^th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2016 - Edinburgh, United Kingdom Duration: 19 Jul 2016 → 22 Jul 2016

Conference

Conference	5^th International Conference on Biomimetic and Biohybrid Systems
Country/Territory	United Kingdom
City	Edinburgh
Period	19/07/2016 → 22/07/2016

Keywords

Mobile robots
Stability in control theory
humanoid robots
stability
eye-head stabilization mechanism
humanoid robot
human inertial data
VCR
VOR
torso disturbance
locomotion tasks
vestibulocollic reflex
vestibulo-ocular reflex
Theoretical Computer Science
Computer Science (all)
Eye-head coordination
Head stabilization
Humanoid robotics
Aldehydes
Anthropomorphic robots
Biomimetics
Videocassette recorders
Humanoid robot
Internal models
Learning and adaptation
Vestibular system
Vestibulo-ocular reflex
Stabilization

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10.1007/978-3-319-42417-0_31

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HBP SGA1: Human Brain Project. Subproject 10 Neurorobotics Platform - SGA1
Tolu, S. (Project Coordinator), Lund, H. H. (PI), Capolei, M. C. (Other), Corchado Miralles, C. (Other) & Baira Ojeda, I. (Other)
01/04/2016 → 01/04/2018
Project: Research

Cite this

@inproceedings{ee806a836c2848949bf01a561a964a33,

title = "Eye-head stabilization mechanism for a humanoid robot tested on human inertial data",

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. Together they keep the image stationary on the retina. In this work we present the first complete model of eye-head stabilization based on the coordination of VCR and VOR. The model is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform replicating torso disturbance acquired on human subject performing various locomotion tasks confirm the effectiveness of our approach.",

keywords = "Mobile robots, Stability in control theory, humanoid robots, stability, eye-head stabilization mechanism, humanoid robot, human inertial data, VCR, VOR, torso disturbance, locomotion tasks, vestibulocollic reflex, vestibulo-ocular reflex, Theoretical Computer Science, Computer Science (all), Eye-head coordination, Head stabilization, Humanoid robotics, Aldehydes, Anthropomorphic robots, Biomimetics, Videocassette recorders, Humanoid robot, Internal models, Learning and adaptation, Vestibular system, Vestibulo-ocular reflex, Stabilization",

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

year = "2016",

doi = "10.1007/978-3-319-42417-0_31",

language = "English",

volume = "9793",

pages = "341--352",

journal = "Lecture Notes in Computer Science",

issn = "0302-9743",

publisher = "Springer",

note = "5<sup>th</sup> International Conference on Biomimetic and Biohybrid Systems : Living Machines 2016 ; Conference date: 19-07-2016 Through 22-07-2016",

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TY - GEN

T1 - Eye-head stabilization mechanism for a humanoid robot tested on human inertial data

AU - Vannucci, Lorenzo

AU - Falotico, Egidio

AU - Tolu, Silvia

AU - Dario, Paolo

AU - Lund, Henrik Hautop

AU - Laschi, Cecilia

PY - 2016

Y1 - 2016

N2 - 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. Together they keep the image stationary on the retina. In this work we present the first complete model of eye-head stabilization based on the coordination of VCR and VOR. The model is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform replicating torso disturbance acquired on human subject performing various locomotion tasks confirm the effectiveness of our approach.

AB - 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. Together they keep the image stationary on the retina. In this work we present the first complete model of eye-head stabilization based on the coordination of VCR and VOR. The model is provided with learning and adaptation capabilities based on internal models. Tests on a simulated humanoid platform replicating torso disturbance acquired on human subject performing various locomotion tasks confirm the effectiveness of our approach.

KW - Mobile robots

KW - Stability in control theory

KW - humanoid robots

KW - stability

KW - eye-head stabilization mechanism

KW - humanoid robot

KW - human inertial data

KW - VCR

KW - VOR

KW - torso disturbance

KW - locomotion tasks

KW - vestibulocollic reflex

KW - vestibulo-ocular reflex

KW - Theoretical Computer Science

KW - Computer Science (all)

KW - Eye-head coordination

KW - Head stabilization

KW - Humanoid robotics

KW - Aldehydes

KW - Anthropomorphic robots

KW - Biomimetics

KW - Videocassette recorders

KW - Humanoid robot

KW - Internal models

KW - Learning and adaptation

KW - Vestibular system

KW - Vestibulo-ocular reflex

KW - Stabilization

U2 - 10.1007/978-3-319-42417-0_31

DO - 10.1007/978-3-319-42417-0_31

M3 - Conference article

SN - 0302-9743

VL - 9793

SP - 341

EP - 352

JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

T2 - 5<sup>th</sup> International Conference on Biomimetic and Biohybrid Systems

Y2 - 19 July 2016 through 22 July 2016

ER -

Eye-head stabilization mechanism for a humanoid robot tested on human inertial data

Abstract

Conference

Keywords

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Projects

HBP SGA1: Human Brain Project. Subproject 10 Neurorobotics Platform - SGA1

Cite this