A cooperative interaction control methodology of a pair independent control system

Human eyes cannot easily focus on two separate targets at the same time. The two eyes have their own cooperative movements that can be separated into conjugate and vergence movements (relative movements) which have different dynamic characteristics. Here, in order to achieve realistic eye movements, first a binocular motor control system model was proposed based on the neural pathways of the binocular motor system. The model has cross pathways between the two symmetrical eye´s own control loops which have never been found in any conventional robot control system. Consequently, the modification on this extraordinary feature model resulted that a pair of interacting control systems through the cross pathways can be separately analyzed into two independent control systems based on its behaviors, i.e. the conjugate movement control system and the relative movement control system. The effectiveness of this principle, then, was verified in the experiment through the binocular robot eye based on this proposed control system model. The constructed robot can operate several cooperative movement characteristics according to human-eye movements. For example, it cannot focus on two different targets at the same time, even though the targets have the same shape.