TY - GEN
T1 - Towards a methodology for stabilizing the gaze of a quadrupedal robot
AU - Marcinkiewicz, Marek
AU - Kunin, Mikhail
AU - Parsons, Simon
AU - Sklar, Elizabeth
AU - Raphan, Theodore
PY - 2007
Y1 - 2007
N2 - When a quadrupedal robot moves, the body and head pitch, yaw and roll, because of its stepping. This natural effect of body and head motion adversely effects the use of visual sensors embedded in the robot's head. Any object in the visual frame of the robot will, from the perspective of the robot, be subject to considerable unmodeled motion or slip. This problem does not affect mammals, which have vestibulo-collic and vestibulo-ocular reflexes that stabilize their gaze in space and maintain objects of interest approximately fixed on the retina. Our work is aimed towards constructing an artificial vestibular system for quadrupedal robots to maintain accurate gaze. This paper describes the first part of this work, wherein we have mounted an artificial vestibular system in a Sony AIBO robot.
AB - When a quadrupedal robot moves, the body and head pitch, yaw and roll, because of its stepping. This natural effect of body and head motion adversely effects the use of visual sensors embedded in the robot's head. Any object in the visual frame of the robot will, from the perspective of the robot, be subject to considerable unmodeled motion or slip. This problem does not affect mammals, which have vestibulo-collic and vestibulo-ocular reflexes that stabilize their gaze in space and maintain objects of interest approximately fixed on the retina. Our work is aimed towards constructing an artificial vestibular system for quadrupedal robots to maintain accurate gaze. This paper describes the first part of this work, wherein we have mounted an artificial vestibular system in a Sony AIBO robot.
UR - http://www.scopus.com/inward/record.url?scp=38149017689&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-74024-7_56
DO - 10.1007/978-3-540-74024-7_56
M3 - Conference contribution
AN - SCOPUS:38149017689
SN - 9783540740230
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 540
EP - 547
BT - RoboCup 2006
PB - Springer Verlag
T2 - 10th RoboCup International Symposium, RoboCup 2006
Y2 - 19 June 2006 through 20 June 2006
ER -