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Learning and evaluation of a vergence control system inspired by Hering's law


Mutti, Flavio; Alessandro, Cristiano; Angioletti, Marco; Bianchi, Andrea; Gini, Giuseppina (2012). Learning and evaluation of a vergence control system inspired by Hering's law. In: 4th IEEE IEEE International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 24 July 2012 - 27 July 2012, 931-936.

Abstract

We develop a bio-inspired controller for an active stereo vision system based on the Hering's law. We extend a model already proposed in literature in two ways. Firstly we evaluate the performance of the controller, inspecting its capability to foveate a generic feature in the 3D space, and the robustness respect to the initial angular configuration of the stereo system. Secondly we introduce the redundant component of the neck. Using a classical learning method we tune the controller to adapt to the controlled system. We investigate how the redundancy is solved by the learned controller, and show that the performance increases and the controlled stereo system generates human-like trajectories.

Abstract

We develop a bio-inspired controller for an active stereo vision system based on the Hering's law. We extend a model already proposed in literature in two ways. Firstly we evaluate the performance of the controller, inspecting its capability to foveate a generic feature in the 3D space, and the robustness respect to the initial angular configuration of the stereo system. Secondly we introduce the redundant component of the neck. Using a classical learning method we tune the controller to adapt to the controlled system. We investigate how the redundancy is solved by the learned controller, and show that the performance increases and the controlled stereo system generates human-like trajectories.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:27 July 2012
Deposited On:17 Jan 2013 15:44
Last Modified:13 Aug 2017 21:35
Publisher:IEEE
ISBN:978-1-4577-1199-2 (P) 978-1-4577-1200-5 (E)
Publisher DOI:https://doi.org/10.1109/BioRob.2012.6290920
Related URLs:http://www.biorob2012.org/
Other Identification Number:merlin-id:7790

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