An integrated neuromimetic model of the saccadic eye movements for the psikharpax robot

Authors:
Steve N'Guyen;Patrick Pirim;Jean-Arcady Meyer;Benoît Girard
Affiliations:
Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie-Paris 6, CNRS, UMR, Paris Cedex 05, France and Brain Vision Systems, Paris, France;Brain Vision Systems, Paris, France;Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie-Paris 6, CNRS, UMR, Paris Cedex 05, France;Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie-Paris 6, CNRS, UMR, Paris Cedex 05, France
Venue:
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Year:
2010

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Abstract

We propose an integrated model of the saccadic circuitry involved in target selection and motor command. It includes the Superior Colliculus and the Basal Ganglia in both cortical and subcortical loops. This model has spatial and feature-based learning capabilities which are demonstrated on various saccade tasks on a robotic platform. Results show that it is possible to learn to select saccades based on spatial information, feature-based information and combinations of both, without the necessity to explicitly pre-define eye-movement strategies.