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Video results from the different labs of the consortium

Exploring a
fixed scene

Vergence-version behaviour on an iCub robot head: switching gaze to fixate a visual target.

Vergence behavior on moving objects

Planar surface


Waving hand

Curled paper

    PSPC-lab - DIBE - University of Genoa

Random saccades on MAC-EYE II

A tendon-driven mechatronic binocular eye system (MAC-EYE II) replicates the biomechanics of ocular motions in humans and primates. The implementation of a bio-inspired robot head is also the starting point for the analysis and the assessment of the motor control strategies implemented by the brain to drive the very high dynamics of ocular rotation.

    MAC-lab - DIST - University of Genoa

Reaching movement on Tombatossal robot

The robotic platform "Tombatossal" is moved by a Vergence Version Control model with Attention effects. The robot is able to distinguish among different objects, to perform an oculomotor action toward the location of a selected object, and to perform arm reaching movements, either with or without gazing at it.

    Robotic Intelligence Lab - Department of Engineering and Computer Science - University Jaume I de Castellon

Research News Archive

The project's gazette on breaking results from the different labs of the consortium

15 Dec 2010 - Reaching Activity in the Medial Posterior Parietal Cortex of Monkeys Is Modulated by Visual Feedback

Reaching and grasping an object is an action that we perform succesfully in light and in dark. In the dark, reaching movements rely on efferent copies of motor signals and proprioceptive reafferent signals from the moving limb. However, reaching in the light relies not only on efferent motor and reafferent proprioceptive signals but also on visual information about the target to be reached, the moving forelimb, and the surroundings. In the absence of visual feedback, movement performance quickly deteriorates .
    Annalisa Bosco(1), Rossella Breveglieri(1), Eris Chinellato(2),
    Claudio Galletti(1), Patrizia Fattori(1),
    University of Bologna (1)
    Department of Psychology
    Universitat Jaume I de Castellon (2)
    Department of Engineering and Computer Science

15 Dec 2010 - A Tendon Driven Robot Eye Prototype

The MACEYE-II is a bio-inspired stereo-vision robot with the mechanics and motion characteristics of a human eye. This prototype of a robot eye must emulate the mechanical structure and the motions of a human eye with a comparable working range. The inspiration for the design obviously came from the study of the anatomy of the eye in humans and primates.
    G. Cannata, A. Trabucco
    Department of Communication, Computer and System Science (DIST)
    University of Genoa

07 May 2010 - Visual feature extraction in foveated systems

The log-polar imaging is a well established paradigm for simplifying a wide number of computational problems in active vision, since simultaneously provides a wide field-of-view, high spatial resolution on the fovea, and a significant data reduction. These features are well suitable for visual systems that continuously interact with the environment, by purposefully moving the eyes to bring the interesting objects into the foveas.
    M. Chessa, S.P. Sabatini, F. Solari
    Department of Biophysical and Electronic Engineering (DIBE)
    University of Genoa

26 April 2010 - Visuomotor spatial awareness through concurrent reach/gaze actions

The execution of gazing and reaching movements toward the same target is the fundamental building block for learning to coordinate the processing of visual information with body motor control in natural and artificial agents. Taking inspiration from human and primate studies, we developed a computational framework that allows an artificial agent to learn to interact with objects in its peripersonal space.
    Eris Chinellato, Marco Antonelli, Beata Joanna Grzyb, Angel P. del Pobil
    Robotic Intelligence Laboratory
    Department of Engineering and Computer Science
    Universitat Jaume I de Castellon (UJI)

21 April 2010 - Covert shift of attention modulates the ongoing neural activity in a reaching area of the macaque dorsomedial visual stream

Posterior parietal area V6A is involved in shifting covert attention in space. The major results we achieved can be summarized as follows:
 - neurons in the cortical pathway for reaching are influenced by spatial attention
 - the attentional modulation occurs also without gaze shifts or visual stimulation
 - visual, motor, and attentional responses can occur in combination in single neurons..
    Claudio Galletti(1), Rossella Breveglieri(1), Markus Lappe(2), Annalisa Bosco(1),
    Marco Ciavarro(1), Patrizia Fattori(1)
    Department of Human and General Physiology
    University of Bologna (1)
    Department of Psychology
    University of Münster (2)

12 April 2010 - Saccadic adapation modifies perceptual localization

An experimental modification of the motor control of saccadic eye movements leads to an associated change in the perceived location of objects. The tight agreement between the amount of change of eye movement control and the amount of change of localization shows that perceptual space is shaped by motor knowledge rather than simply constructed from visual input.
    Eckart Zimmermann, Markus Lappe
    Department of Psychology
    University of Münster, Germany

8 May 2009 - Evidence for Peak-shaped Gaze Fields in Area V6A: Implications for Sensorimotor Transformations in Reaching Tasks

The majority of the gaze-related cells of the parietal area V6A of the macaque are non-linearly tuned. The use of non-linear, peak-shaped gaze fields improves the efficiency of the coding scheme of the position of reaching targets, expecially when a small number of units is avaliable.
    Breveglieri, R.(1), Bosco, A.(1), Canessa, A.(2), Fattori, P.(1), Sabatini, S.P.(2)
    Department of Human and General Physiology
    University of Bologna (1)
    Department of Biophysical and Electronic Engineering (DIBE)
    University of Genoa (2)

27 March 2009 - Learning receptive fields out of natural scenes with an biological motivated model of rate coded neurons

A model for learning receptive fields out of natural scenes. This model is based on biological motivated assumptions like attention and Hebbian learning and leads to receptive fields that are very similar to those measured by electrophysiological recordings.
    F.H. Hamker, J. Wiltschut
    Department of Psychology
    University of Münster (Germany)

24 March 2009 - Vergence simulator

The first version of the vergence simulator is ready. The simulator has been developed as a MATLAB-based platform for vergence control strategies development, modeling and testing. But it also can be used in wide spectrum of tasks, in which 3D modeling is involved, e.g. generation of the synthetic stereo images, computation of the ground truth optical flow, and disparity statistics estimation for the 3D scenes etc.
Nikolay Chumerin
Computational Neuroscience Research Group
Laboratorium voor Neuro- en Psychofysiologie

23 March 2009 - A Virtual Reality Simulator for Active Vision Systems

The novelty of the proposed approach is to use the Virtual Reality as a tool to simulate the behavior of physical systems, in particular of the visual system of a robot, rather than to make the perceptual rendering of the visual information exploitable by human users.
    M. Chessa, S.P. Sabatini, F. Solari
    Department of Biophysical and Electronic Engineering (DIBE)
    University of Genoa

03 March 2009 - Reading out Binocular Energy Population Codes for Short-latency Disparity-vergence Eye Movements

A model for the extraction of the vergence control signals, without computing the disparity map, is proposed. The model, based on a population of specialized disparity detectors, has been tested in vergence task on a plane moving in depth.
    A. Gibaldi, M. Chessa, A. Canessa, S.P. Sabatini, F. Solari
    Department of Biophysical and Electronic Engineering (DIBE)
    University of Genoa

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