{"paper":{"title":"Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Sippel, Markus Grotz, Renaud Ronsse, Tamim Asfour, Timothee Habra","submitted_at":"2017-03-01T17:07:36Z","abstract_excerpt":"Gaze stabilization is fundamental for humanoid robots. By stabilizing vision, it enhances perception of the environment and keeps points of interest in the field of view. In this contribution, a multimodal gaze stabilization combining classic inverse kinematic control with vestibulo-ocular and optokinetic reflexes is introduced. Inspired by neuroscience, it implements a forward model that can modulate the reflexes based on the reafference principle. This principle filters self-generated movements out of the reflexive feedback loop. The versatility and effectiveness of this method are experimen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.00390","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}