The purpose of this work is to investigate the applicability of a visual tracking model on humanoid robots in order to achieve a human-like predictive behavior. In humans, in case of moving targets the oculomotor system uses a combination of the smooth pursuit eye movement and saccadic movements, namely "catch up" saccades to fixate the object of interest This work aims to validate the "catch up" saccade model in order to obtain a human-like tracking system able to correctly switch from a zero-lag predictive smooth pursuit to a fast orienting saccade for the position error compensation. Experimental results on the iCub simulator show several correspondences with the human behavior.

Implementation of a bio-inspired visual tracking model on the iCub robot

G. G. Muscolo;
2010

Abstract

The purpose of this work is to investigate the applicability of a visual tracking model on humanoid robots in order to achieve a human-like predictive behavior. In humans, in case of moving targets the oculomotor system uses a combination of the smooth pursuit eye movement and saccadic movements, namely "catch up" saccades to fixate the object of interest This work aims to validate the "catch up" saccade model in order to obtain a human-like tracking system able to correctly switch from a zero-lag predictive smooth pursuit to a fast orienting saccade for the position error compensation. Experimental results on the iCub simulator show several correspondences with the human behavior.
978-142447991-7
Anthropomorphic robots; Behavioral research; Error compensation; Bio-inspired; Human behaviors; Humanoid robot; Moving targets; Object of interests; Oculomotor systems; Predictive behaviors; Smooth pursuit; Smooth pursuit eye movement; Tracking system; Visual Tracking; Eye movements
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1049011
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