Bionic model for coordinated head-eye motion control / 生物医学工程学杂志

ABSTRACT

The relationships between eye movements and head movements of the primate during gaze shifts are analyzed in detail in the present paper. Applying the mechanisms of neurophysiology to engineering domain, we have improved the robot eye-head coordination. A bionic control strategy of coordinated head-eye motion was proposed. The processes of gaze shifts are composed of an initial fast phase followed by a slow phase. In the fast phase saccade eye movements and slow head movements were combined, which cooperate to bring gaze from an initial resting position toward the new target rapidly, while in the slow phase the gaze stability and target fixation were ensured by the action of the vestibulo-ocular reflex (VOR) where the eyes and head rotate by equal amplitudes in opposite directions. A bionic gaze control model was given. The simulation results confirmed the effectiveness of the model by comparing with the results of neurophysiology experiments.