An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex

A. Lenz*, T. Balakrishnan, A. G. Pipe, C. Melhuish

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

32 Citations (Scopus)

Abstract

The vestibulo-ocular reflex stabilizes vision in many vertebrates. It integrates inertial and visual information to drive the eyes in the opposite direction to head movement and thereby stabilizes the image on the retina. Its adaptive nature guarantees stable vision even when the biological system undergoes dynamic changes (due to disease, growth or fatigue etc), a characteristic especially desirable in autonomous robotic systems. Based on novel, biologically plausible neurological models, we have developed a robotic testbed to qualitatively evaluate the performance of these algorithms. We show how the adaptive controller can adapt to a time varying plant and elaborate how this biologically inspired control architecture can be employed in general engineering applications where sensory feedback is very noisy and/ or delayed.

Original languageEnglish
Article number035001
Number of pages11
JournalBioinspiration and Biomimetics
Volume3
Issue number3
DOIs
Publication statusPublished - Sep 2008
EventConference on Toward Autonomous Robotic Systems 2007 - Aberystwyth, United Kingdom
Duration: 1 Sep 2007 → …

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