Eye-Head Stabilization Mechanism for a Humanoid Robot Tested on Human Inertial Data

详细信息    查看全文

• 关键词：Head stabilization ; VOR ; VCR ; Eye ; head coordination ; Humanoid robotics
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9793
• 期：1
• 页码：341-352
• 全文大小：1,211 KB
• 参考文献：1.Imai, T., Moore, S.T., Raphan, T., Cohen, B.: Interaction of the body, head, and eyes during walking and turning. Exp. Brain Res. 136(1), 1–18 (2001)CrossRef
  2.Hirasaki, E., Moore, S.T., Raphan, T., Cohen, B.: Effects of walking velocity on vertical head and body movements during locomotion. Exp. Brain Res. 127(2), 117–130 (1999)CrossRef
  3.Pozzo, T., Berthoz, A., Lefort, L., Vitte, E.: Head stabilization during various locomotor tasks in humans. Exp. Brain Res. 85(1), 208–217 (1991)CrossRef
  4.Nadeau, S., Amblard, B., Mesure, S., Bourbonnais, D.: Head and trunk stabilization strategies during forward and backward walking in healthy adults. Gait Posture 18(3), 134–142 (2003)CrossRef
  5.Hashimoto, K., Kang, H.J., Nakamura, M., Falotico, E., Lim, H.O., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: Realization of biped walking on soft ground with stabilization control based on gait analysis. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2064–2069 (2012)
  6.Kang, H.J., Hashimoto, K., Nishikawa, K., Falotico, E., Lim, H.O., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: Biped walking stabilization on soft ground based on gait analysis. In: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 669–674 (2012)
  7.Barnes, G.: Visual-vestibular interaction in the control of head and eye movement: the role of visual feedback and predictive mechanisms. Prog. Neurobiol. 41(4), 435–472 (1993)CrossRef
  8.Shibata, T., Schaal, S.: Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks. Neural Netw. 14(2), 201–216 (2001)CrossRef
  9.Viollet, S., Franceschini, N.: A high speed gaze control system based on the vestibulo-ocular reflex. Robot. Auton. Syst. 50(4), 147–161 (2005)CrossRef
  10.Porrill, J., Dean, P., Stone, J.V.: Recurrent cerebellar architecture solves the motor-error problem. Proc. Roy. Soc. Lond. B 271(1541), 789–796 (2004)CrossRef
  11.Franchi, E., Falotico, E., Zambrano, D., Muscolo, G., Marazzato, L., Dario, P., Laschi, C.: A comparison between two bio-inspired adaptive models of vestibulo-ocular reflex (VOR) implemented on the iCub robot. In: 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010, pp. 251–256 (2010)
  12.Gay, S., Santos-Victor, J., Ijspeert, A.: Learning robot gait stability using neural networks as sensory feedback function for central pattern generators. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 194–201, November 2013
  13.Kryczka, P., Falotico, E., Hashimoto, K., Lim, H., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: Implementation of a human model for head stabilization on a humanoid platform. In: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 675–680 (2012)
  14.Kryczka, P., Falotico, E., Hashimoto, K., Lim, H.O., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2076–2081 (2012)
  15.Falotico, E., Cauli, N., Hashimoto, K., Kryczka, P., Takanishi, A., Dario, P., Berthoz, A., Laschi, C.: Head stabilization based on a feedback error learning in a humanoid robot. In: Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 449–454 (2012)
  16.Falotico, E., Laschi, C., Dario, P., Bernardin, D., Berthoz, A.: Using trunk compensation to model head stabilization during locomotion. In: IEEE-RAS International Conference on Humanoid Robots, pp. 440–445 (2011)
  17.Vijayakumar, S., Schaal, S.: Locally weighted projection regression: incremental real time learning in high dimensional space. In: ICML 2000: Proceedings of the Seventeenth International Conference on Machine Learning. Morgan Kaufmann Publishers Inc., San Francisco, pp. 1079–1086 (2000)
  18.Tolu, S., Vanegas, M., Luque, N.R., Garrido, J.A., Ros, E.: Bio-inspired adaptive feedback error learning architecture for motor control. Biol. Cybern. 106(8–9), 507–522 (2012)CrossRef
  19.Tolu, S., Vanegas, M., Garrido, J.A., Luque, N.R., Ros, E.: Adaptive and predictive control of a simulated robot arm. Int. J. Neural Syst. 23(3), 1350010 (2013)CrossRef
  20.Bergamini, E., Ligorio, G., Summa, A., Vannozzi, G., Cappozzo, A., Sabatini, A.: Estimating orientation using magnetic and inertial sensors and different sensor fusion approaches: accuracy assessment in manual and locomotion tasks. Sens. (Switz.) 14(10), 18625–18649 (2014)CrossRef
  21.Tikhanoff, V., Cangelosi, A., Fitzpatrick, P., Metta, G., Natale, L., Nori, F.: An open-source simulator for cognitive robotics research: the prototype of the icub humanoid robot simulator. In: Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, PerMIS 2008, pp. 57–61. ACM, New York (2008)
  22.Collewijn, H., Martins, A., Steinman, R.: Natural retinal image motion: origin and change. Ann. N. Y. Acad. Sci. 374(1), 312–329 (1981)CrossRef
  
• 作者单位：Lorenzo Vannucci (19)
  Egidio Falotico (19)
  Silvia Tolu (20)
  Paolo Dario (19)
  Henrik Hautop Lund (20)
  Cecilia Laschi (19)
  
  19. The BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
  20. Department of Electrical Engineering, The Center for Playware, Technical University of Denmark, Elektrovej Building 326, 2800, Kongens Lyngby, Copenhagen, Denmark
  
• 丛书名：Biomimetic and Biohybrid Systems
• ISBN：978-3-319-42417-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9793

文摘

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.