中文摘要：

针对机器人在颠簸环境下作业过程中产生姿态变化从而导致的视觉不稳定性问题,基于眼球前庭动眼反射的机理,提出一种主动补偿视觉误差的方法.在生理学和解剖学的基础上,根据眼球运动的神经回路,建立了一个具有自适应性的前庭动眼反射控制模型.为了验证模型的性能,在不同的环境中进行了仿真实验,仿真结果表明该模型可以主动补偿机器人姿态变化所引起的视觉误差,并且具有良好的自适应性.最后,通过实体机器人实验验证了该控制模型的有效性与准确性.

英文摘要：

To solve the problem of vision instability caused by attitude variation of the robot working under bumpy environment,a method of active compensation for robot visual error is proposed based on the principle of vestibulo-ocular reflex（VOR）.According to oculomotor neural circuits,an adaptive control model of vestibulo-ocular reflex is established on the basis of physiology and anatomy.In order to verify the model＇s performance,some simulation experiments are performed in different environments.Simulation results show that the model can actively compensate the visual error caused by robot attitude variation and has better adaptability.Finally,physical robot experiments demonstrate the validity and accuracy of the control model.