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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Neural Model of Coordinated Head and Eye Movement Control
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A Neural Model of Coordinated Head and Eye Movement Control

机译：协调头部运动控制的神经模型

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摘要

Gaze shifts require the coordinated movement of both the eyes and the head in both animals and humanoid robots. To achieve this the brain and the robot control system needs to be able to perform complex non-linear sensory-motor transformations between many degrees of freedom and resolve the redundancy in such a system. In this article we propose a hierarchical neural network model for performing 3-D coordinated gaze shifts. The network is based on the PC/BC-DIM (Predictive Coding/Biased Competition with Divisive Input Modulation) basis function model. The proposed model consists of independent eyes and head controlled circuits with mutual interactions for the appropriate adjustment of coordination behaviour. Based on the initial eyes and head positions the network resolves redundancies involved in 3-D gaze shifts and produces accurate gaze control without any kinematic analysis or imposing any constraints. Furthermore the behaviour of the proposed model is consistent with coordinated eye and head movements observed in primates.
机译：凝视变化需要两只动物和人形机器人的眼睛和头部的协调运动。为了实现这种大脑和机器人控制系统需要能够在多程度之间进行复杂的非线性感觉电动机变换，并在这种系统中解决冗余。在本文中，我们提出了一个分层神经网络模型，用于执行3-D协调凝视变换。该网络基于PC / BC-DIM（预测编码/偏置竞争分除输入调制）基函数模型。所提出的模型由独立的眼睛和头部控制电路组成，具有相互相互作用的适当调整协调行为。基于初始眼睛和头部位置，网络解决了3-D凝视的冗余，并且在没有任何运动分析或施加任何限制的情况下产生准确的凝视控制。此外，所提出的模型的行为与在灵长类动物中观察到的协调眼睛和头部运动一致。

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