Prediction and cooperation in gaze control
Biological Cybernetics
Active exploration of dynamic and static scenes
Real-time computer vision
The Active Recovery of 3D Motion Trajectories and Their Use in Prediction
IEEE Transactions on Pattern Analysis and Machine Intelligence
Neural learning of embodied interaction dynamics
Neural Networks - Special issue on neural control and robotics: biology and technology
Statistical Learning for Humanoid Robots
Autonomous Robots
Locally Weighted Projection Regression: Incremental Real Time Learning in High Dimensional Space
ICML '00 Proceedings of the Seventeenth International Conference on Machine Learning
A Context-Dependent Attention System for a Social Robot
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Selecting One Among the Many: A Simple Network Implementing Shifts in Selective Visual Attention
Selecting One Among the Many: A Simple Network Implementing Shifts in Selective Visual Attention
A review of log-polar imaging for visual perception in robotics
Robotics and Autonomous Systems
A hierarchical Bayesian framework for multimodal active perception
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Integrating visual perception and manipulation for autonomous learning of object representations
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Speeding-up the learning of saccade control
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
Models of gaze control for manipulation tasks
ACM Transactions on Applied Perception (TAP)
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Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, that is, capturing targets accurately on a very narrow fovea, dealing with large delays in the control systems, the stabilization of gaze in the face of unknown perturbations of the body, selective attention, and the complexity of stereo vision. In this article, we suggest control circuits to realize three of the most basic oculomotor behaviors and their integration: the vestibulo-ocular reflex and optokinetic response (VOR-OKR) for gaze stabilization, smooth pursuit for tracking moving objects, and saccades for overt visual attention. Each of these behaviors and the mechanism for their integration were derived with inspiration from computational theories as well as behavioral and physiological data in neuroscience. Our implementations on humanoid demonstrate good performance of oculomotor behaviors, which proves to be a viable strategy to explore novel control mechanisms for humanoid robotics. Conversely, insights gained from our models have been able to directly influence views and provide new directions for computational neuroscience research.