Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Strategies for modelling open-loop saccade control of a cable-driven
  biomimetic robot eye   In human-robot interactions, eye movements play an important role in
non-verbal communication. However, controlling the motions of a robotic eye
that display similar performance as the human oculomotor system is still a
major challenge. In this paper, we study how to control a realistic model of
the human eye, with a cable-driven actuation system that mimicks the 6
extra-ocular muscles. We have built a robotic prototype and developed a
non-linear simulation model, for which we compared different techniques to
control its gaze behavior to match the main characteristics of saccade eye
movements. In the first approach, we linearized the six degrees of freedom
nonlinear model, using a local derivative technique, and designed
linear-quadratic optimal controllers to optimize a cost function that accounts
for accuracy, energy and duration. The second method learns a dynamic
neural-network that matches the system dynamics, trained from sample
trajectories of the system, and a non-linear trajectory optimization solver
optimized a similar cost function. We focused on the generation of rapid
saccadic eye movements with fully unconstrained kinematics, and the generation
of control signals for the six cables that simultaneously satisfied several
dynamic optimization criteria. The model faithfully mimicked the
three-dimensional rotational kinematics and dynamics observed for human
saccades. Our experimental results indicate that while the linear model
provides a more accurate eye movement, the nonlinear model simulate eye dynamic
properties in a better way faithful approximation to the properties of the
human saccadic system than the linearized model, at the cost of larger training
and optimization time.

17
The categories of this paper are: q-fin
29
The categories of this paper are: funct-an
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
13
The categories of this paper are: quant-ph
27
The categories of this paper are: comp-gas
9
The categories of this paper are: nlin
37
The categories of this paper are: supr-con
20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
2
The categories of this paper are: math
3
The categories of this paper are: physics
15
The categories of this paper are: nucl-ex
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom