The 14th IASTED International Conference on Robotics and Applications
開催地
和文:
英文:
Cambridge，MA，USA
アブストラクト
Human eyes cannot easily focus on two separate targets at
the same time. In detail, our two eyes have their own
cooperative movements between conjugate and vergence
(relative) movements. But rather thanks to its
characteristics, we can track a target reliably and
efficiently. In order to realize optimal eye system, we
proposed a mathematical model based on the neural
network in the brainstem for the oculomotor control
system. Then, we constructed effective binocular motor
control system with cooperative behavior. Our binocular
robot system shows to separate two independent control
(conjugate and vergence) from cooperative hybrid control
system. The results of the experiments showed the
conjugate movements with different dynamic functions
compared with vergence movements. Based on these
ideas, the principle of the cooperative interacting control
system of two symmetrical controlled objects can be
designed and applied in many control systems. For
example, in the cooperative motion control system of
robot's hands, when the robot holds an object by its both
hands, the relative force is used for grasping the object
while the conjugate force is used for carrying the object.
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