Translational Vestibulo-Ocular Reflex Model for Robotic Binocular Motor Control System

摘要

This paper proposes a robotic eye movement control system based on neural pathways of human binocular motor system. The ability so called “Translational Vestibulo-Ocular Reflex (TVOR)” in physiology area of eye movements is developed to compensate the motion bular caused by the translation head movement. Since TVOR depends on both the movements of the head and the position of the related target with the head, it cannot be realized as a single eye system. According from the physiology and anatomy studies, its target position information is from the angles of both eyes in ocular motor system of human. In this paper, the Smooth Pursuit eye movement, Rotational Vestibulo-Ocular Reflex (RVOR), and TVOR are successfully combined in one binocular motion control model. This model has been approved through the experiment by using a mobile robot with binocular active cameras, accelerometer, and gyroscope. Its result shows that the cameras can keep tracking on a moving target smoothly while the robot is violently moving. This ability cannot be realized by only using visual feedback control method.