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Conference on Biomimetic and Biohybrid Systems

Living Machines 2012: Biomimetic and Biohybrid Systems pp 107–119Cite as

Static versus Adaptive Gain Control Strategy for Visuo-motor Stabilization

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7375))

Abstract

Biological principles of closed-loop motor control have gained much interest over the last years for their potential applications in robotic system. Although some progress has been made in understanding of how biological systems use sensory signals to control reflex and voluntary behaviour, experimental platforms are still missing which allow us to study sensorimotor integration under closed-loop conditions. We developed a fly-robot interface (FRI) to investigate the dynamics of a 1-DoF image stabilization task. Neural signals recorded from an identified visual interneuron were used to control a two-wheeled robot which compensated for wide-field visual image shifts caused by externally induced rotations. We compared the frequency responses of two different controllers with static and adaptive feedback gains and their performance and found that they offer competing benefits for visual stabilization. In future research will use the FRI to study how different sensor systems contribute towards robust closed-loop motor control.

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Author information

Authors and Affiliations

  1. Department of Bioengineering, Imperial College London, London, SW72AZ, UK

    Naveed Ejaz, Reiko J. Tanaka & Holger G. Krapp

Authors
  1. Naveed Ejaz
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  2. Reiko J. Tanaka
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  3. Holger G. Krapp
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Editor information

Editors and Affiliations

  1. Department of Psychology, Adaptive Behaviour Research Group, University of Sheffield, Sheffield, UK

    Tony J. Prescott  & Nathan F. Lepora  & 

  2. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura  & Paul F. M. J. Verschure  & 

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© 2012 Springer-Verlag Berlin Heidelberg

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Ejaz, N., Tanaka, R.J., Krapp, H.G. (2012). Static versus Adaptive Gain Control Strategy for Visuo-motor Stabilization. In: Prescott, T.J., Lepora, N.F., Mura, A., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2012. Lecture Notes in Computer Science(), vol 7375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31525-1_10

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  • DOI: https://doi.org/10.1007/978-3-642-31525-1_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31524-4

  • Online ISBN: 978-3-642-31525-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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