Title :
Emergence of Smooth Pursuit using Chaos
Author :
Duran, Boris ; Metta, Giorgio ; Sandini, Giulio
Author_Institution :
Univ. of Genova, Genova
Abstract :
The task of tracking an object has been fully studied and many solutions presented before. However, it is a perfect test bed for the study of a novel model using Coupled Chaos Systems. Once an object appears in front of a camera, we demonstrate that the visual input is enough for the self-organization of the torques applied to each of the axes controlling the motion of a simulated eye. No learning or specific coding of the task is needed beforehand, which results in a very fast adaptation to perturbations.
Keywords :
chaos; humanoid robots; mobile robots; motion control; tracking; coupled chaos system; humanoid robot; motion control; object tracking; smooth pursuit; Algorithm design and analysis; Automation; Cameras; Chaos; Control theory; Humanoid robots; Industrial control; Motion control; System testing; Torque control;
Conference_Titel :
Self-Adaptive and Self-Organizing Systems, 2007. SASO '07. First International Conference on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7695-2906-2
DOI :
10.1109/SASO.2007.23