Adaptive saccade controller inspired by the primates' cerebellum

Antonelli, Marco and Duran, Angel J. and Chinellato, Eris and Del Pobil, Angel P. (2015) Adaptive saccade controller inspired by the primates' cerebellum. In: IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, Washington, USA.

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Abstract

Saccades are fast eye movements that allow humans and robots to bring the visual target in the center of the visual field. Saccades are open loop with respect to the vision system, thus their execution require a precise knowledge of the internal model of the oculomotor system. In this work, we modeled the saccade control, taking inspiration from the recurrent loops between the cerebellum and the brainstem. In this model, the brainstem acts as a fixed-inverse model of the oculomotor system, while the cerebellum acts as an adaptive element that learns the internal model of the oculomotor system. The adaptive filter is implemented using a state-of-the-art neural network, called I-SSGPR. The proposed approach, namely recurrent architecture, was validated through experiments performed both in simulation and on an antropomorphic robotic head. Moreover, we compared the recurrent architecture with another model of the cerebellum, the feedback error learning. Achieved results show that the recurrent architecture outperforms the feedback error learning in terms of accuracy and insensitivity to the choice of the feedback controller.

Item Type: Conference or Workshop Item (Paper)
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 19780
Notes on copyright: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Depositing User: Eris Chinellato
Date Deposited: 10 May 2016 10:51
Last Modified: 07 Sep 2018 04:36
URI: http://eprints.mdx.ac.uk/id/eprint/19780

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