A neuromorphic control module for real-time vergence eye movements on the iCub robot head

We implemented a cortical model of vergence eye movements on a humanoid robot head (iCub). The proposed control strategy resorts on a computational substrate of modeled V1 complex cells that provides a distributed representation of binocular disparity information. The model includes a normalization stage that allows for a vergence control independent of the texture of the object and of luminance changes. The disparity information is exploited to provide a signal able to nullify the binocular disparity in a foveal region. © 2011 IEEE.