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

Research output: Contribution to journalConference articleResearchpeer-review


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 languageEnglish
Book seriesLecture Notes in Computer Science
Pages (from-to)341-352
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2016 - Edinburgh, United Kingdom
Duration: 19 Jul 201622 Jul 2016


Conference5th International Conference on Biomimetic and Biohybrid Systems
Country/TerritoryUnited Kingdom


  • 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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