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

Lenz, Alex; Pipe, Anthony G.; Melhuish, Chris; Balakrishnan, T.

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. © 2008 IOP Publishing Ltd.

• Journal Article Type: Article
• Publication Date: Sep 1, 2008
• Journal: Bioinspiration and Biomimetics
• Print ISSN: 1748-3182
• Electronic ISSN: 1748-3190
• Publisher: IOP Publishing
• Peer Reviewed: Peer Reviewed
• Volume: 3
• Issue: 3
• Book Title: An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex
• DOI: https://doi.org/10.1088/1748-3182/3/3/035001
• Keywords: instrumentation and measurement, medical physics, biological physics
• Public URL: https://uwe-repository.worktribe.com/output/1020026
• Publisher URL: http://dx.doi.org/10.1088/1748-3182/3/3/035001