Title :
Implementation of a bio-inspired visual tracking model on the iCub robot
Author :
Falotico, Egidio ; Zambrano, Davide ; Muscolo, Giovanni Gerardo ; Marazzato, Laura ; Dario, Paolo ; Laschi, Cecilia
Author_Institution :
Scuola Superiore Sant´´Anna, Pisa, Italy
Abstract :
The purpose of this work is to investigate the applicability of a visual tracking model on humanoid robots in order to achieve a human-like predictive behavior. In humans, in case of moving targets the oculomotor system uses a combination of the smooth pursuit eye movement and saccadic movements, namely “catch up” saccades to fixate the object of interest. This work aims to validate the "catch up" saccade model in order to obtain a human-like tracking system able to correctly switch from a zero-lag predictive smooth pursuit to a fast orienting saccade for the position error compensation. Experimental results on the iCub simulator show several correspondences with the human behavior.
Keywords :
humanoid robots; robot vision; tracking; bio-inspired visual tracking model; catch up saccade model; human-like predictive behavior; human-like tracking system; humanoid robots; iCub robot; oculomotor system; position error compensation; visual tracking model; zero-lag predictive smooth pursuit; Computational modeling; Mathematical model; Predictive models; Retina; Robots; Target tracking; Visualization;
Conference_Titel :
RO-MAN, 2010 IEEE
Conference_Location :
Viareggio
Print_ISBN :
978-1-4244-7991-7
DOI :
10.1109/ROMAN.2010.5598617