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An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex

Gaze stabilisation is required in many robot- and machine-vision applications, for example to enable self-induced motion to be distinguished from actual motion of object in a visual scene. If achieved by mechanical movement (i.e. mimicking eye rotation), task could be tackled as classical closed-loop control problem. Paper demonstrates an alternative open-loop control approach that is closer to neurological architecture found in vertebrates. Principles described were used as core elements in new field of bio-controllers for electro-active polymer artificial-muscles and technique has potential application to control of inherently unstable plant.