Gaze control for a two-eyed robot head

As a first step towards building a two-eyed active vision system, gaze control is discussed in this paper. Instead of using separate subcontrollers for each of the subfunctions, loosely corresponding to saccade, pursuit, vergence, VOR(vestibulo-ocular reflex), and 0KR ( op to-kinetic reflex), that most previous work has done, a potentially parallel gaze controller is proposed whose structure is supervising-planning-adaptation. Based on simulation, the cooperations and interactions in gaze control and the consequence of delays due to image processing and the local controllers are discussed.