Skip to main content
Top

2015 | OriginalPaper | Chapter

Integrating Feedback and Predictive Control in a Bio-Inspired Model of Visual Pursuit Implemented on a Humanoid Robot

Authors : Lorenzo Vannucci, Egidio Falotico, Nicola Di Lecce, Paolo Dario, Cecilia Laschi

Published in: Biomimetic and Biohybrid Systems

Publisher: Springer International Publishing

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

search-config
loading …

In order to follow a moving visual target, humans generate voluntary smooth pursuit eye movements. The purpose of smooth pursuit eye movements is to minimize the retinal slip, i.e. the target velocity projected onto the retina. In this paper we propose a model able to integrate the major characteristics of visually guided and predictive control of the smooth pursuit. The model is composed of an Inverse Dynamics Controller (IDC) for the feedback control, a neural predictor for the anticipation of the target motion and a Weighted Sum module that is able to combine the previous systems in a proper way. In order to validate the general model, two implementations with two different IDC controllers have been carried out. The first one uses a backstepping-based controller to generate velocity motor commands for the eye movements and the other one uses a bio-inspired neurocontroller to generate position motor commands for eye-neck coordinated movements. Our results, tested on the iCub robot simulator, show that both implementations can use prediction for a zero-lag visual tracking, a feedback based control for “unpredictable” target pursuit and can combine these two approaches by properly switching from one to the other, guaranteeing a stable visual pursuit.

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!

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!

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!

Metadata
Title
Integrating Feedback and Predictive Control in a Bio-Inspired Model of Visual Pursuit Implemented on a Humanoid Robot
Authors
Lorenzo Vannucci
Egidio Falotico
Nicola Di Lecce
Paolo Dario
Cecilia Laschi
Copyright Year
2015
DOI
https://doi.org/10.1007/978-3-319-22979-9_26

Premium Partner