ノンパラメトリック回帰ネットワークによる生体模倣型眼球運動制御系の高速学習

概要

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Accurate oculomotor control is one of the essential pre-requisites of successful visuomotor coordination. Given the nonlinearities of the geometry of binocular vision as well as the possible nonlinearities of the oculomotor plant, it is desirable to accomplish accurate oculomotor control through learning approaches. In this paper, we investigate learning control for a biomimetic active vision system mounted on a humanoid robot. By combining the adaptive control strategy of feedback-error learning with a state-of-the-art statistical learning network, our robot system is able to acquire high performance visual stabilization reflexes after about 40 seconds of learning despite significant nonlinearities and processing delays in the system.
社団法人日本ロボット学会の論文
2001-05-15