头眼协调运动控制仿生模型

Bionic Model for Coordinated Head-eye Motion Control

深入分析灵长类动物在注视点转移过程中眼球运动、头部运动及头眼协调运动的关系,将头眼协调运动的神经生理机制引入工程领域,改善机器人视觉系统的头眼协调问题。提出一种仿生型机器人头眼协调运动控制策略,将注视转移过程分为初始的快相和随后的慢相两个阶段。快相组合了高速眼球扫视运动(saccade)眼球运动和缓慢的头部运动,两者协调配合迅速切换注视点至新的目标;慢相通过前庭动眼反射(VOR),依靠头和眼的等量反向旋转运动维持目标稳定的同时,调整头部位置,使其朝向目标。建立了注视转移的仿生控制模型。仿真结果与生理学实验数据进行了对比分析,证明了所提控制策略与控制模型的可行性。

The relationships between eye movements and head movements of the primate during gaze shifts are analyzed in detail in the present paper. Applying the mechanisms of neurophysiology to engineering domain, we have im- proved the robot eye-head coordination. A bionic control strategy of coordinated head-eye motion was proposed. The processes of gaze shifts are composed of an initial fast phase followed by a slow phase. In the fast phase saceade eye movements and slow head movements were combined, which cooperate to bring gaze from an initial resting position toward the new target rapidly, while in the slow phase the gaze stability and target fixation were ensured by the action of the vestibulo-ocular reflex（VOR） where the eyes and head rotate by equal amplitudes in opposite directions. A bionic gaze control model was given. The simulation results confirmed the effectiveness of the model by comparing with the results of neurophysiology experiments.