| This thesis outlines the implementation and testing of a binocular active vision system. Emphasis is placed on the bilateral gaze controller that allows the robotic system to perform specific orienting tasks. The gaze controller, based on existing biological gaze control systems, is capable of tracking a moving target by integrating smooth pursuit and saccadic modes of operation. Furthermore, the controller is able to gracefully fuse eye and head movements without the need for a separate head controller. This work represents the first time a head platform has been implemented with the bilateral gaze controller. Experiments and simulations that yield the dynamic structure and performance of the eye-head system are presented. Although severely limited by spatial quantization and a low sampling rate, the gaze controller is able to adequately follow a moving target. Results also indicate that the addition of a head platform improves the overall performance of the system, as expected. |
