This paper proposes a robotic eye movement control system based on neural pathways of human binocular motor
system. The ability so called "Linear Vestibulo-Ocular Re
ex (LVOR)" in physiology area of eye movements is
developed to compensate the motion bular caused by the translation head movement. Since LVOR depends on both
the movements of the head and the position of the related target with the head, it cannot be realized as a single eye
system. According from the physiology and anatomy studies, its target position information is from the angles of
both eyes in ocular motor system of human. In this paper, the Smooth Pursuit eye movement, Angular Vestibulo-
Ocular Re
ex (AVOR), and LVOR are successfully combined in one binocular motion control model. This model
has been approved through the experiment by using a mobile robot with binocular active cameras, accelerometer,
and gyroscope. Its result shows that the cameras can keep tracking on a moving target smoothly while the robot is
violently moving. This ability cannot be realized by only using visual feedback control method.
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