A fast robotic eye/head system: control of binocular coordination

A robotic eye/head system is being developed based on the principles used by biological systems. Here we focus on the properties of a symmetric controller which allows for imbedded coordination of conjugate and vergence components in a binocular system. Relying on a switching strategy, a compact controller can be made to provide desired dynamics for tasks such as slow tracking of a target (pursuit) or rapid acquisition of new targets (saccades).