| 仿生型机器人眼球运动控制系统建模 |
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| 引用本文： | 邹海荣,龚振邦,谢少荣.仿生型机器人眼球运动控制系统建模[J].机器人,2007,29(4):342-347. |
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| 作者姓名： | 邹海荣 龚振邦 谢少荣 |
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| 作者单位： | 上海大学机电工程与自动化学院,上海,200072 |
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| 基金项目： | 上海市自然科学基金
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教育部高等学校重点学科建设资助项目
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上海市重点学科建设项目 |
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| 摘 要： | 首先，分析了人眼眼球运动的特点和形式．然后，在人眼解剖学和生理学研究的基础上，根据控制眼球运动的神经回路，建立了可实现人眼功能的仿生型机器人眼三维眼球运动控制系统的数学模型．在与生理学试验相同的条件下对该模型用Matlab 65进行了仿真实验，仿真结果与生理学实验结果对比表明，该模型能自适应地实现人眼的平滑追踪、前庭动眼反射、视动反射及其复合运动．
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| 关 键 词： | 建模 机器人眼 仿生眼 眼球运动控制 自适应 |
| 文章编号： | 1002-0446（2007）04-0342-06 |
| 修稿时间： | 2006-07-15 |
Modelling of the Oculomotor Control System for Biomimetic Robot Eye |
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| ZOU Hai-rong,GONG Zhen-bang,XIE Shao-rong.Modelling of the Oculomotor Control System for Biomimetic Robot Eye[J].Robot,2007,29(4):342-347. |
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| Authors: | ZOU Hai-rong GONG Zhen-bang XIE Shao-rong |
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| Affiliation: | School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China |
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| Abstract: | Firstly,the oculomotor characteristics and forms of human eyes are analyzed.Then,based on the anatomical and physiological research of human eyes,a 3D oculomotor control system model of biomimetic robot eye which can realize the functions of human eyes is developed according to the oculomotor neural paths.The simulation experiments are made on Matlab 6.5 under the same condition as that of the physiological experiments,and the comparisons between the results of physiological experiments and simulation experiments show that the model can adaptively realize smooth pursuit,VOR(vestibulo-ocular reflex),OKR(optokinetic reflex) and their compound movements of human eyes. |
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| Keywords: | modelling robot eye biomimetic eye oculomotor control adaptive |
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