A Cooperative Interaction Control Methodology of a Pair Independent Control System based on Human Binocular Motor System

X. Zhang (Japan)


Automatic control systems, Robot vision, Biocybernetics, Cooperative control, Smooth Pursuit.


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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