Abstract
Bioinspired and biomimetic approaches are widely researched in robotics in order to improve cognitive, autonomic functions of machines. Use of bioinspired adaptive control algorithms in machines stabilises the motor control. Gaze stabilisation system/vestibulo-ocular reflex (VOR) operates to counter-rotate the eyes to prevent retinal slip for maintaining the stable gaze. Cerebellum has a lot of functions, like a cognitive, motor, autonomic functions and probably, emotions.
Test cases of implementation and evaluation of bioinspired adaptive control algorithm in the control of a robot eye show promising performance. Model of cerebellar function, which is analogue to the VOR is analysed. Inverse oculomotor plant model is simulated on Matlab/Simulink by using simple Vestibulo-Ocular Reflex model.
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Nussibaliyeva, A., Mussina, A., Carbone, G., Tultayev, B., Balbayev, G. (2019). Neurorobotic Investigation by Using a Basic Vestibulo-Ocular Reflex System Algorithm. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_17
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DOI: https://doi.org/10.1007/978-3-030-00329-6_17
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