Studies on nonlinear dynamics hidden in an optokinetic reflex and brain inspired robot vision development

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Robots, which are helpful assistants in dangerous situations where humans cannot safely operate, have been required since natural and man-made disasters happened in Japan on March 2011. In the assistant robot construction, developments of the robot vision with the visual ability comparable to visual perceptions in the human brain (called humanoid vision) are the urgent research tasks. In the developments of human-like robot vision, we used neural models for an optokinetic reflex as well as robotic motion controls, in order to propose analysis on slopes of the firing rate for each neural model. We revealed nonlinear dynamical mechanisms such as bifurcation transitions, which were related to changes of the firing rate that might significantly be related to eye movement controls. In addition, we developed a binocular robot vision device in which such neural models will be implemented.