摘要： 针对多数头眼系统易受环境因素或复杂坐标变换影响的问题,基于人类眼球生理学和解剖学原理,根据眼球运动的神经回路,通过对重要神经核功能以及视觉信息传递处理机制的研究,建立一个具有眼球自适应前庭动眼反射与平滑追踪运动控制模型。结合人类行为特征,提出一种头眼协调控制方法,并运用Matlab进行控制系统仿真模拟。仿真结果表明,该头眼协调运动控制方法不仅可以应用于机器人仿生视觉系统中,而且具有良好的鲁棒性。

关键词: 仿生眼, 头眼协调, 前庭动眼反射, 平滑追踪, 视觉仿生, 建模仿真

Abstract: Aiming at the effect of the environmental factors and complex coordinate transformation for most head-eye systems,on the basis of the anatomical and physiological research of human eyes and the oculomotor neural circuits,an adaptive control system model of Vestibule-ocular Reflex(VOR) and smooth pursuit is established through the research on the mechanism of the crucial nerve nuclear functions and the visual information transmission and processing.Combined with humans’ behavior characteristics,a control method for the head-eye coordination is proposed and is simulated with Matlab.Simulation results show that this motion control method not only can be applied to bionic robot vision system,but also has good robustness.

Key words: bionic eye, head-eye coordination, Vestiburo-ocular Reflex (VOR), smooth pursuit;vision bionics, modeling simulation

中图分类号: 

• TP273