Implementation of Bio-Inspired Vestibulo-Ocular Reflex in a Quadrupedal Robot

Kaushik, Ravi; Marcinkiewicz, Marek; Xiao, Jizhong; Parsons, Simon; Raphan, Theodore

doi:10.1109/robot.2007.364228

Cited by 12 publications

(12 citation statements)

References 12 publications

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“…In vertebrates, the vestibular system is a biological sensor responsible for maintenance of the body's balance, located in the inner ears on both sides of the head (Kaushik et al, 2007). Brustein and Rossignol (1998) presented a study that proves the importance of the vestibular pathways in the posture control.…”

Section: Vestibulospinal Reflexmentioning

confidence: 98%

Robotic locomotion combining Central Pattern Generators and reflexes

Ferreira

Santos

2015

2015 IEEE 4th Portuguese Meeting on Bioengineering (ENBENG)

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All the work carried during the past year would not be possible without the help, understanding and support from many people. First and foremost, I would like to express my deepest gratitude to my adviser Prof. Cristina Santos, who allowed me the possibility to integrate the CAR (Control, Automation and Robotics) group of the ALGORITMI center. I am extremely grateful for her dedication, support and constant motivation, providing me an excellent atmosphere to complete my thesis. I am sincerely grateful for her excellent guidance and perseverance, encouraging me to tackle the different problems of this research. The help, constructive criticism and advice that I received were invaluable to the final quality of this work, making suggestions that contributed to overcoming the difficulties that emerged during this journey. I would like to thank Prof. Lino Costa for the opportunity to learn new topics related with fitness evaluation. I want to express my gratitude to Prof. Auke Ijspeert, who was always available to help with whatever was needed, provided insighful discussions about the research and presented suggestions that helped me develop this accomplishment. I am especially thankful to everybody in the lab, for all the friendship and companionship that provided me with an excellent daily environment. A special thanks to João Macedo, who was always available to help me solve computational issues. I express my warm thank you to my girlfriend Bárbara for her support, dedication and patience during the last year. She assisted me when I was writing this thesis, giving me some insight to stay on track and complete this work successfully. Finally, I would like to thank my family, my parents and my brother, for their constant support, love and encouragement.

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Section: Vestibulospinal Reflexmentioning

confidence: 98%

Robotic locomotion combining Central Pattern Generators and reflexes

Ferreira

Santos

2015

2015 IEEE 4th Portuguese Meeting on Bioengineering (ENBENG)

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“…The compensatory angular VOR algorithm was implemented in a quadruped robot [11]. We present the algorithm in order to keep continuity with the theory.…”

Section: Vestibulo-ocular Reflexmentioning

confidence: 99%

“…The neck has 3DOF and each Ocular Servo Module has 3DOF with three motors mounted orthogonal to one another, similar to the function of the neck and eye muscles. We refer to this as OSM [11], which provides the algorithm for the compensatory aVOR that compensates for angular rotations of the head. Each of the subsystems serves different purposes.…”

Section: Introductionmentioning

confidence: 99%

Combinning linear vestibulo-ocular and opto-kinetic reflex in a humanoid robot

Labutov

Kaushik

Marcinkiewicz

et al. 2008

2008 10th International Conference on Control, Automation, Robotics and Vision

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The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the implementation of artificial opto-kinetic and linear vestibular ocular reflexes (OKR and lVOR) that use inputs from an artificial vestibular sensor and a binocular camera system to compensate for linear movements of the head and visual motion to stabilize images on the cameras. The object tracking algorithm was able to fixate a steady object in the camera's field of view during linear perturbations of the robot's head in space at low frequencies of movement (0.2-0.6 Hz), simulating the linear VOR. We implemented an algorithm that combines the linear VOR and OKR model and computes changes in relative pose of the cameras with respect to the object being tracked. The system provides compensatory angular movements of the Ocular Servo Module (OSM) to stabilize images as the robot is moved laterally.

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“…In our research, we propose a motion stabilization system of an ers-7 AIBO quadruped robot, which performs its own head motion according to a feedforward controller. Several similar works have been proposed in literature [5], [8], [7], [6]. But these methods consider that the robot moves according to a scheduled robot motion plan, which implies that space and time constraints on robot motion must be known before hand as well as robot and environment models.…”

Section: Introductionmentioning

confidence: 99%

“…As such, control is based on this scheduled plan. Other works have successfully achieved gaze stabilization [6], that consists on image stabilization during head movements in space. However, binocular vision systems were considered, requiring additional hardware in the robot.…”

Section: Introductionmentioning

confidence: 99%

Head motion stabilization during quadruped robot locomotion: Combining dynamical systems and a genetic algorithm

Santos

Oliveira

Rocha

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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The head shaking that results from robot locomotion is important because it difficults stable image acquisition and the possibility to rely on that information to act accordingly, for instance, to achieve visually-guided locomotion. In this article, we focus on the development of a head controller able to minimize the head motion induced by locomotion itself. Specifically, we propose a combined approach to generate head movement stabilization on a quadruped robot, using Central Pattern Generators (CPGs) and a genetic algorithm. Head movement is generated by CPGs which are modelled as autonomous differential equations. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated trajectories according to changes in these parameters. It is therefore easy to combine the CPG with an optimization method. A genetic algorithm determines the best set of parameters that generates the head movement that reduces the head shaking caused by locomotion. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that does not eliminate but reduces the one induced by locomotion.

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Implementation of Bio-Inspired Vestibulo-Ocular Reflex in a Quadrupedal Robot

Cited by 12 publications

References 12 publications

Robotic locomotion combining Central Pattern Generators and reflexes

Robotic locomotion combining Central Pattern Generators and reflexes

Combinning linear vestibulo-ocular and opto-kinetic reflex in a humanoid robot

Head motion stabilization during quadruped robot locomotion: Combining dynamical systems and a genetic algorithm

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