A neural model of binocular saccade planning and vergence control

作者：Muhammad Wasif; Spratling Michael W^*

来源：Adaptive Behavior, 2015, 23(5): 265-282.

DOI：10.1177/1059712315607363

• Basis function networks
• sensory-sensory transformations
• sensory-motor control
• saccades
• eye movements
• neural networks
• function approximation
• iCub
• vergence

The human visual system uses saccadic and vergence eye movements to foveate visual targets. To mimic this aspect of the biological visual system the PC/BC-DIM neural network is used as an omni-directional basis function network for learning and performing sensory-sensory and sensory-motor transformations without using any hard-coded geometric information. A hierarchical PC/BC-DIM network is used to learn a head-centred representation of visual targets by dividing the whole problem into independent subtasks. The learned head-centred representation is then used to generate saccade and vergence motor commands. The performance of the proposed system is tested using the iCub humanoid robot simulator.

• 出版日期2015-10