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
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.
IDS Number: GF2XI
Unique ID: WOS:000431804100004