仿人形机器人两眼的运动模型和控制方法研究

Research on Binocular Motion Model and Its Control Method for Humanoid Robot

以人的视觉生理学和解剖学的研究成果为基础,对人类两眼的协调运动、辐辏运动、前庭动眼反射、视机性反射和滑动性眼球运动等视觉机能进行研究,以简化人类复杂的视觉神经网络及其反馈控制系统,并建立起仿人形机器人两眼的运动模型和控制方法。仿真实验结果表明提出的仿人形机器人两眼的运动模型和控制方法是有效的。

Based on the research achievements of the anatomic structure and physiological function of human being＇s two eyes, the visual functions （cooperative motion, vergence, optokinetic eye movements, vestibular oculomotor reflexes, etc.） of the two eyes were analyzed theoretically and the human being＇s complex visual feedback control system was simplified, so as to set up a binocular visual motion model and to develop a control method for a humanoid robot. The simulation results confirm the effectiveness of the present binocular motion model and its control method.