TY - GEN
T1 - Combinning linear vestibulo-ocular and opto-kinetic reflex in a humanoid robot
AU - Labutov, Igor
AU - Kaushik, Ravi
AU - Marcinkiewicz, Marek
AU - Xiao, Jizhong
AU - Parsons, Simon
AU - Raphan, Theodore
PY - 2008
Y1 - 2008
N2 - The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the implementation of artificial opto-kinetic and linear vestibular ocular reflexes (OKR and lVOR) that use inputs from an artificial vestibular sensor and a binocular camera system to compensate for linear movements of the head and visual motion to stabilize images on the cameras. The object tracking algorithm was able to fixate a steady object in the camera's field of view during linear perturbations of the robot's head in space at low frequencies of movement (0.2-0.6 Hz), simulating the linear VOR. We implemented an algorithm that combines the linear VOR and OKR model and computes changes in relative pose of the cameras with respect to the object being tracked. The system provides compensatory angular movements of the Ocular Servo Module (OSM) to stabilize images as the robot is moved laterally.
AB - The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the implementation of artificial opto-kinetic and linear vestibular ocular reflexes (OKR and lVOR) that use inputs from an artificial vestibular sensor and a binocular camera system to compensate for linear movements of the head and visual motion to stabilize images on the cameras. The object tracking algorithm was able to fixate a steady object in the camera's field of view during linear perturbations of the robot's head in space at low frequencies of movement (0.2-0.6 Hz), simulating the linear VOR. We implemented an algorithm that combines the linear VOR and OKR model and computes changes in relative pose of the cameras with respect to the object being tracked. The system provides compensatory angular movements of the Ocular Servo Module (OSM) to stabilize images as the robot is moved laterally.
KW - Humanoid robot
KW - Opto-kinetic reflexes
KW - Vestibulo-ocular reflex
UR - http://www.scopus.com/inward/record.url?scp=64549111265&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2008.4795505
DO - 10.1109/ICARCV.2008.4795505
M3 - Conference contribution
AN - SCOPUS:64549111265
SN - 9781424422876
T3 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
SP - 132
EP - 137
BT - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
T2 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
Y2 - 17 December 2008 through 20 December 2008
ER -