Models for the design of bioinspired robot eyes

IEEE Transactions on Robotics

Volumn 24, Issue 1, 2008, Pages 27-44

  Cannata, Giorgio ^a   Maggiali, Marco ^b  

^a UNIVERSITY OF GENOA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

Humanoid robot eyes; Listing's law; Ocular movements; Robot vision systems; Tendon driven robots

Indexed keywords

COMPUTER SIMULATION; PHYSIOLOGICAL MODELS; ROBOTICS;

HUMANOID ROBOT EYES; LISTING'S LAW; OCULAR MOVEMENTS; TENDON-DRIVEN ROBOTS;

COMPUTER VISION;

EID: 40949165411     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.906270     Document Type: Article

References (48)

1. R. H. S. Carpenter, "The visual origins of ocular motility," in Eye Movements, R. H. S. Carpenter, Ed. London, U.K.: Macmillan, 1991, pp. 1-11.
2. C. C. A. M. Gielen, S. F. Gabel, and J. Duysens, "Retinal slip during active head motion and stimulus motion," Exp. Brain Res., vol. 155, pp. 211-219, 2004.
3. G. Cannata and E. Grosso, "On perceptual advantages of active robot vision," J. Robot. Syst., vol. 16, no. 3, pp. 163-183, 1999.
4. W. Becker, "Eye movements," in Eye Movements, R. H. S. Carpenter, Ed. London, U.K.: Macmillan, 1991, pp. 95-137.
5. J. Pola and H. J. Wyatt, "Smooth pursuit: Response characteristics, stimuli and mechanisms," in Eye Movements, R. H. S. Carpenter, Ed. London, U.K.; Macmillan, 1991, pp. 138-156.
6. H. Misslisch and D. Tweed, "Neural and mechanical factors in eye control," J. Neurophysiol., vol. 86, pp. 1877-1883, Oct. 2001.
7. D. Tweed and T. Vilis, "Implications of rotational kinematics for the oculomotor system in three dimensions," J. Neurophysiol., vol. 58, no. 4, pp. 832-849, Oct. 1987.
8. D. Tweed and T. Vilis, "Rotation axes of saccades," Ann. N Y Acad. Sci., vol. 545, pp. 128-139, 1988.
9. D. Tweed and T. Vilis, "Geometric relations of eye position and velocity vectors during saccades," Vision Res., vol. 30, no. 1, pp. 111-127, 1988.
10. D. Straumann, D. S. Zee, D. Solomon, and P. D. Kramer, "Validity of Listing's law during fixations, saccades, smooth pursuit eye movements, and blinks," Exp. Brain Res., vol. 112, pp. 135-146, 1996.
11. T. Haslwanter, "Mathematics of three-dimensional eye rotations," Vision Res., vol. 35, pp. 1727-1739, 1995.
12. T. Haslwanter, "Mechanics of eye movements: Implications of the orbital revolution," Ann. N Y Acad. Sci., vol. 956, pp. 33-41, 2002.
13. D. Tweed, T. Haslwanter, and M. Fetter, "Optimizing gaze control in three dimensions," Science, vol. 281, pp. 1363-1366, Aug. 1998.
14. A. A. Handzel and T. Flash, "The geometry of eye rotations and Listing's law," Adv. Neural Inform. Process. Syst, vol. 8, pp. 117-123, 1996.
15. A. D. Polpitiya and B. K. Ghosh, "Modeling the dynamics of oculomotor system in three dimensions," in Proc. Conf. Decision Control, Dec. 2003, pp. 6418-6422.
16. L. Koornneef, "The first results of a new anatomical method of approach to the human orbit following a clinical enquiry," Acta Morphol. Neerl. Scand., vol. 12, no. 4, pp. 259-282, 1974.
17. J. M. Miller, "Functional anatomy of normal human rectus muscles," Vision Res., vol. 29, pp. 223-240, 1989.
18. J. L. Demer, J. M. Miller, V. Poukens, H. V. Vinters, and B. J. Glasgow, "Evidence for fibromuscular pulleys of the recti extraocular muscles," Invest. Ophthalmol. Vis. Sci., vol. 36, pp. 1125-1136, 1995.
19. R. A. Clark, J. M. Miller, and J. L. Demer, "Three-dimensional location of human rectus pulleys by path inflection in secondary gaze positions," Invest. Ophthalmol. Vis. Sci., vol. 41, pp. 3787-3797, 2000.
20. J. L. Demer, S. Y. Ho, and V. Pokens, "Evidence for active control of rectus extraocular muscle pulleys," Invest. Ophthalmol. Vis. Sci. vol. 41, pp. 1280-1290, 2000.
21. A. R. Koene and C. J. Erkelens, "Properties of 3D rotations and their relation to eye movement control," Biol. Cybern., vol. 90, pp. 410-417, Jul. 2004.
22. J. Porrill, P. A. Warren, and P. Dean, "A simple control law generates Listing's positions in a detailed model of the extraocular muscle system," Vis. Res., vol. 40, pp. 3743-3758, 2000.
23. C. Quaia and L. M. Optican, "Commutative saccadic generator is sufficient to control a 3D ocular plant with pulleys," J. Neurophysiol., vol. 79, pp. 3197-3215, 1998.
24. T. Raphan, "Modeling control of eye orientation in three dimensions. I. Role of muscle pulleys in determining saccadic trajectory," J. Neurophysiol., vol. 79, pp. 2653-2667, 1998.
25. K. Hepp, "Oculomotor control: Listing's law and all that," Current Opinion Neurobiol., vol. 4, pp. 862-868, 1994.
26. A. M. F. Wong, D. Tweed, and J. A. Sharpe, "Adaptive neural mechanism for Listing's law revealed in patients with sixth nerve palsy," Invest. Ophthalmol. Vis. Sci., vol. 43, no. 1, pp. 112-118, Jan. 2002.
27. D. E. Angelaki and B. J. M. Hess, "Control of eye orientation: Where does the brain's role ends and the muscles' begin?," Eur. J. Neurosci., vol. 19, pp. 1-10, 2004.
28. A. D. Polpitiya and B. K. Ghosh, "Modelling and control of eye-movement with muscolotendon dynamics," in Proc. Am. Control Conf., Anchorage, AK, May 2002, pp. 2313-2318.
29. J. Gu, M. Meng, A. Cook, and M. G. Faulkner, "A study of natural movement of artificial eye plant," Robot. Auton. Syst., vol. 32, pp. 153-161, 2000.
30. D. Pongas, F. Guenter, A. Guignard, and A. Billard, "Development of a miniature pair of eyes with camera for the humanoid robot robota," in Proc. IEEE-RAS/RSJ Int. Conf. Humanoid Robots, 2004, vol. 2, pp. 899-211.
31. A. Albers, S. Brudniok, and W. Burger, "The mechanics of a humanoid," presented at the 3rd IEEE Int. Conf. Humanoid Robot (Humanoids 2003). Karlsruhe, Germany.
32. G. Cannata, M. D'Andrea, M. Maggiali, and F. Monti, "Implementation of Listing's law for a robot eye," presented at the 8th Int. IFAC Symp. Robot Control (SyRoCo 2006). Sep. 6-8, Bologna, Italy.
33. G. Cannata and M. Maggiali, "Implementation of Listing's law for a tendon driven robot eye," in Proc. IEEE Conf. Intell. Robots Syst. Beijing, China, Oct. 9-15, 2006, pp. 3940-3945.
34. G. Cannata, M. D'Andrea, and M. Maggiali, "Design of a humanoid robot eye: Models and experiments," in Proc. IEEE Conf. Humanoid Robots Genova, Italy, Dec. 4-6, 2006, pp. 151-156.
35. R. N. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, Boca Raton, FL: CRC, 1994.
36. J. M. Miller and D. A. Robinson, "A model of the mechanics of binocular alignment," Comput. Biomed. Res., vol. 17, pp. 436-470, 1984.
37. D. A. Robinson, "Overview," in Eye Movements, R. H. S. Carpenter, Ed. London, U.K.: Macmillan, 1991, pp. 320-331.
38. D. Guitton and M. Volle, "Gaze control in humans: Eye head coordination during orienting movements to targets within and beyond the oculomotor range," J. Neurophysiol., vol. 58, pp. 427-459, 1987.
39. C. S. Sherrington, "Experimental note on two movements of the eye," J. Physiol., vol. 17, pp. 27-29, 1894.
40. J. M. Miller, J. L. Demer, and A. L. Rosenbaum, "Effect of transposition surgery on rectos muscle paths by magnetic resonance imaging," Ophthalmology, vol. 100, no. 4, pp. 475-487, Apr. 1993.
41. D. Biamino, G. Cannata, M. Maggiali, and A. Piazza, "MAC-EYE: A tendon driven fully embedded robot eye," in Proc. 2005 IEEE-RAS Int. Conf. Humanoid Robots, Tsukuba, Tokyo, Dec. 5-7, 2005.
42. G. Cannata and M. Maggiali, "Design of a humanoid robot eye," in Humanoid Robots, M. Hackel, Ed. Vienna, Austria: Advanced Robotics Systems, 2007, pp. 137-156 (ISBN 978-3-902613-00-4).
43. M. Peduzzi, Manuale di Oculistica. New York: McGraw-Hill, 2000.
44. P. Lockwood-Cooke, C. E. Martin, and L. SchovaDec, "A dynamic 3-D model of ocular motion," in Proc. 38th Conf. Decision Control, Phoenix, AZ, Dec. 1999, vol. 1, pp. 405-409.
45. B. Horn, Robot Vision. Cambridge, MA: MIT Press, 1986.
46. D. Tweed and T. Vilis. (1996). How your eyes rotate in three dimensions. Tutorial [Online]. Available: http://www.physpharm.fmd.uwo.ca/undergrad/ listing web/vilis1p.htm
47. J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory Methods and Algorithms. New York: Springer-Verlag, 2003.
48. F. Gantmacher, Lectures in Analythical Mechanics. Moscow: MIR, 1975.