2024-03-29T11:56:52Zhttps://repositori.uji.es/oai/requestoai:repositori.uji.es:10234/1249432022-06-10T07:30:50Zcom_10234_7036com_10234_9col_10234_8620
Repositori UJI
author
Antonelli, Marco
author
Durán Bosch, Angel Juan
author
Chinellato, Eris
author
del Pobil, Angel P.
2015-06-23T11:39:23Z
2015-06-23T11:39:23Z
2015-09
ANTONELLI, Marco, et al. Learning the visual–oculomotor transformation: Effects on saccade control and space representation. Robotics and Autonomous Systems, 2014.
http://hdl.handle.net/10234/124943
http://dx.doi.org/10.1016/j.robot.2014.11.018
Active eye movements can be exploited to build a visuomotor representation of the surrounding environment. Maintaining and improving such representation requires to update the internal model involved in the generation of eye movements. From this perspective, action and perception are thus tightly coupled and interdependent. In this work, we encoded the internal model for oculomotor control with an adaptive filter inspired by the functionality of the cerebellum. Recurrent loops between a feed-back controller and the internal model allow our system to perform accurate binocular saccades and create an implicit representation of the nearby space. Simulation results show that this recurrent architecture outperforms classical feedback-error-learning in terms of both accuracy and sensitivity to system parameters. The proposed approach was validated implementing the framework on an anthropomorphic robotic head.
eng
Copyright © 2015 Elsevier B.V. All rights reserved.
stereo vision
cerebellum
humanoid robotics
gaussian process regression
sensorimotor transformation
Learning the visual-oculomotor transformation: Effects on saccade control and space representation
info:eu-repo/semantics/article
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