Neural control architecture for a stereohead with multi-degrees of freedom

A generic control scheme for stereoheads with multi-degrees of freedom is presented. The fixation control scheme of a stereohead that we propose has two goals: on one hand, the visuo-motor control of the positions of the cameras with the principal three degrees of freedom for achieving the fixation of the targets, and on the other, the control of redundant neck joints for achieving the fixation in symmetric vergence. This control scheme implements several neural networks that imitate the human biological structure of the sensory-motor control. Two algorithms have been used, VITE for achieving human movements and DIRECT to control the redundant neck joints. They have been implemented on a stereohead with five degrees of freedom developed in the University of Murcia. The experimental performance of the implementation with this neural controller is presented. Sort times of fixation with the stereohead controlled in symmetric vergence are observed from the results