A comparison of learning strategies for biologically constrained development of gaze control on an iCub robot

Type Article
Original languageEnglish
Pages (from-to)97-110
Number of pages14
JournalAutonomous Robots
Volume37
Issue number1
Early online date29 Nov 2013
DOI
Publication statusPublished - 01 Jun 2014
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Abstract

Gaze control requires the coordination of movements of both eyes and head to fixate on a target. We present a biologically constrained architecture for gaze control and show how the relationships between the coupled sensorimotor systems can be learnt autonomously from scratch, allowing for adaptation as the system grows or changes. Infant studies suggest developmental learning strategies, which can be applied to sensorimotor learning in humanoid robots. We examine two strategies (sequential and synchronous) for the learning of eye and head coupled mappings, and give results from implementations on an iCub robot. The results show that the developmental approach can give fast, cumulative, online learning of coupled sensorimotor systems.

Keywords

  • Developmental robotics, Humanoid robotics, Eye-head coordination, Sensorimotor learning, Gaze control

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    Submitted manuscript, 1 MB, PDF