Title :
A fast robotic eye/head system: control of binocular coordination
Author :
Wagner, Ross ; Galiana, Henrietta L. ; Hunter, Ian W.
Author_Institution :
Dept. of Biomed. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
A robotic eye/head system is being developed based on the principles used by biological systems. Here we focus on the properties of a symmetric controller which allows for imbedded coordination of conjugate and vergence components in a binocular system. Relying on a switching strategy, a compact controller can be made to provide desired dynamics for tasks such as slow tracking of a target (pursuit) or rapid acquisition of new targets (saccades)
Keywords :
robot vision; binocular coordination control; binocular system; biological systems; compact controller; conjugate components; fast robotic eye/head system; new target rapid acquisition; pursuit; saccades; switching strategy; symmetric controller; target slow tracking; vergence components; Biological control systems; Control systems; Error correction; Eyes; Head; Machine vision; Medical control systems; Medical robotics; Robot kinematics; Target tracking;
Conference_Titel :
Engineering in Medicine and Biology Society, 1994. Engineering Advances: New Opportunities for Biomedical Engineers. Proceedings of the 16th Annual International Conference of the IEEE
Conference_Location :
Baltimore, MD
Print_ISBN :
0-7803-2050-6
DOI :
10.1109/IEMBS.1994.415317
