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A Velocity Compensation Visual Servo Method for Oculomotor Control of Bionic Eyes
Jul 11, 2018Author:
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Title: A Velocity Compensation Visual Servo Method for Oculomotor Control of Bionic Eyes

Authors: Zhu, Z; Zou, W; Wang, QB; Zhang, F

Author Full Names: Zhu, Zheng; Zou, Wei; Wang, Qingbin; Zhang, Feng

Source: INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 33 (1):33-44; 10.2316/Journal.206.2018.1.206-4938 2018

Language: English

Abstract: Aiming at the problem of tracking delay and large errors when conventional image-based visual servo is applied to tracking moving objects, a velocity compensation image-based visual servo controller is proposed for head-fixed oculomotor control in this paper, which covers saccade, smooth pursuit and vergence. The controller consists of a basic visual servo sub-controller and a velocity compensation sub-controller. The former is used to eliminate position error and the latter takes into account the target's velocity. Corresponding Jacobian matrixes are derived to implement the controller. At the same time, a novel adaptive gain is designed to boost the control law and continuous velocities are implemented to avoid abrupt changes. A simple but stable fixation point detection method is proposed to provide the input for the whole system. Extensive experiments are conducted and analysed in a real binocular platform implemented with off-the-shelf set-ups, which demonstrate the effectiveness of the proposed method.

ISSN: 0826-8185

eISSN: 1925-7090

IDS Number: GF2XI

Unique ID: WOS:000431804100004

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