We develop a bio-inspired controller for an active stereo vision system based on the Hering's law. We extend a model already proposed in literature in two ways. Firstly we evaluate the performance of the controller, inspecting its capability to foveate a generic feature in the 3D space, and the robustness respect to the initial angular configuration of the stereo system. Secondly we introduce the redundant component of the neck. Using a classical learning method we tune the controller to adapt to the controlled system. We investigate how the redundancy is solved by the learned controller, and show that the performance increases and the controlled stereo system generates human-like trajectories.

Mutti, F., Alessandro, C., Angioletti, M., Bianchi, A., Gini, G. (2012). Learning and evaluation of a vergence control system inspired by Hering's law. In 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012) (pp.931-936). IEEE [10.1109/BioRob.2012.6290920].

Learning and evaluation of a vergence control system inspired by Hering's law

Alessandro C;
2012

Abstract

We develop a bio-inspired controller for an active stereo vision system based on the Hering's law. We extend a model already proposed in literature in two ways. Firstly we evaluate the performance of the controller, inspecting its capability to foveate a generic feature in the 3D space, and the robustness respect to the initial angular configuration of the stereo system. Secondly we introduce the redundant component of the neck. Using a classical learning method we tune the controller to adapt to the controlled system. We investigate how the redundancy is solved by the learned controller, and show that the performance increases and the controlled stereo system generates human-like trajectories.
No
paper
Scientifica
motor control; vergence
English
4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) - 24 June 2012 through 27 June 2012
978-1-4577-1200-5
Mutti, F., Alessandro, C., Angioletti, M., Bianchi, A., Gini, G. (2012). Learning and evaluation of a vergence control system inspired by Hering's law. In 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012) (pp.931-936). IEEE [10.1109/BioRob.2012.6290920].
Mutti, F; Alessandro, C; Angioletti, M; Bianchi, A; Gini, G
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10281/392257
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