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...bjects in the scene during motion. Its architecture, though simple, will permit us to study the system’s visuo-motor (mis)matching and its agency. like foveating and attention to others (see [33] and =-=[34]-=-). The particular log-polar topology of the retina involves eye movements to center the objects of interest in the fovea, where receptors are denser (and the information more detailed), rather than in...

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... right head has foveal cameral on the outer sides of peripheral cameras. smaller), which facilitates the mechanical design of the eye and improves its motion capabilities. Studies on oculomotor control in humanoid robots include vestibulo-ocular and optokinetic reflex, smooth pursuit, saccades, and vergence control (Manzotti et al., 2001; Panerai et al., 2000; Rougeaux & Kuniyoshi, 1998; Shibata et al., 2001). On the image processing side, researchers studied humanoid vision for visual attention (Breazeal et al., 2001; Vijayakumar et al., 2001), segmentation (Fitzpatrick, 2003), and tracking (Metta et al., 2004; Rougeaux & Kuniyoshi, 1998). The utilization of foveation for object recognition was not of major concern in these papers. In our earlier work we demonstrated how foveation (Ude et al., 2003) can be used for object recognition. Our initial system employed LoG (Laplacian of the Gaussian) filters at a single, manually selected scale and principal component analysis to represent objects. Two other systems that utilized foveation for object recognition are described in (Arsenio, 2004), who are mainly concerned with using multi-modal cues for recognition, and (Björkman & Kragic, 2004), who presen...

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...5.3: A schema of the complete system x φl φpan EUROHEAD To track the colored object mounted on the sliding cart we implemented a color segmentation algorithm. We used the same technique presented in (=-=Metta et al., 2004-=-). The first step of this technique is to transform the 58 φrsRGB color information arriving from the cameras to a Hue Saturation Value (HSV) space. The transformation of the RGB values into HSV space...

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...t al., 2001). On the image processing side, researchers studied humanoid vision for visual attention (Breazeal et al., 2001; Vijayakumar et al., 2001), segmentation (Fitzpatrick, 2003), and tracking (=-=Metta et al., 2004-=-; Rougeaux & Kuniyoshi, 1998). The utilization of foveation for object recognition was not of major concern in these papers. In our earlier work we demonstrated how foveation (Ude et al., 2003) can be...

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...n fully studied and many solutions presented before. Based either in position errors or velocity mismatches, some approaches try to control the activation of motors by means of robust PID controllers =-=[3]-=-, [4], [5], while others base their controllers in fuzzy logic [6] or neural networks [7]. In any case, the common methodology in these approaches is to compute expensive Jacobian and kinematic expres...

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...al directions. These values modify the position of each motor; thus generating a coupled chaotic system with 6 logistic maps, Fig. 3. The algorithm governing the dynamics of the system is governed by =-=(3)-=-. uin = f ( (1 − )sin−1 + N∑ j=1 wijn s j n−1 ) (3a) min = Gm(u i n + Om) sin = Gs(r i n + Os) (3b) Where m is the output applied to each motor as speed values, s and u are inputs and outputs respe...