Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
The Natural Bipeds, Birds and Humans: An Inspiration for Bipedal Robots Read chapter Read first chapter

2016 | OriginalPaper | Chapter

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

Authors : Lorenzo Vannucci, Egidio Falotico, Silvia Tolu, Paolo Dario, Henrik Hautop Lund, Cecilia Laschi

Published in: Biomimetic and Biohybrid Systems

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

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.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter MantisBot Uses Minimal Descending Commands to Pursue Prey as Observed in Tenodera Sinensis
next chapter Towards a Synthetic Tutor Assistant: The EASEL Project and its Architecture
Footnotes
Literature
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
Metadata
Title
Eye-Head Stabilization Mechanism for a Humanoid Robot Tested on Human Inertial Data
Authors
Lorenzo Vannucci
Egidio Falotico
Silvia Tolu
Paolo Dario
Henrik Hautop Lund
Cecilia Laschi
Copyright Year
2016
Book
Biomimetic and Biohybrid Systems

Print ISBN: 978-3-319-42416-3

Electronic ISBN: 978-3-319-42417-0

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-42417-0_31

Premium Partner

    Image Credits