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Biomimetic gaze stabilization based on a study of the vestibulocerebellum


Conference Paper


Accurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.

Author(s): Shibata, T. and Schaal, S.
Book Title: European Workshop on Learning Robots
Pages: 84-94
Year: 1998

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Edinburgh, UK
Cross Ref: p1253
Note: clmc
URL: http://www-clmc.usc.edu/publications/S/shibata-EWLR1998.pdf


  title = {Biomimetic gaze stabilization based on a study of the vestibulocerebellum},
  author = {Shibata, T. and Schaal, S.},
  booktitle = {European Workshop on Learning Robots},
  pages = {84-94},
  address = {Edinburgh, UK},
  year = {1998},
  note = {clmc},
  crossref = {p1253},
  url = {http://www-clmc.usc.edu/publications/S/shibata-EWLR1998.pdf}