{"id":"https://openalex.org/W2567921710","doi":"https://doi.org/10.1109/humanoids.2016.7803355","title":"Vergence control with a neuromorphic iCub","display_name":"Vergence control with a neuromorphic iCub","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2567921710","doi":"https://doi.org/10.1109/humanoids.2016.7803355","mag":"2567921710"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075312227","display_name":"Valentina Vasco","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valentina Vasco","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048999395","display_name":"Arren Glover","orcid":"https://orcid.org/0000-0003-4499-4070"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arren Glover","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069223270","display_name":"Yeshasvi Tirupachuri","orcid":"https://orcid.org/0000-0002-0467-0074"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yeshasvi Tirupachuri","raw_affiliation_strings":["RCBS, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RCBS, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085589239","display_name":"Fabio Solari","orcid":"https://orcid.org/0000-0002-8111-0409"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Solari","raw_affiliation_strings":["Universit\u00e1 di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e1 di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008474318","display_name":"Manuela Chessa","orcid":"https://orcid.org/0000-0003-3098-5894"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuela Chessa","raw_affiliation_strings":["Universit\u00e1 di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e1 di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019257524","display_name":"Chiara Bartolozzi","orcid":"https://orcid.org/0000-0003-3465-6449"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chiara Bartolozzi","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.372,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.68235289,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.9274899959564209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7313340902328491},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.690199077129364},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6661390662193298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6623116135597229},{"id":"https://openalex.org/keywords/vergence","display_name":"Vergence (optics)","score":0.6525524258613586},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.517456591129303},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.2700451910495758},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2546950578689575},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.17187178134918213}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.9274899959564209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7313340902328491},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.690199077129364},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6661390662193298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6623116135597229},{"id":"https://openalex.org/C88199966","wikidata":"https://www.wikidata.org/wiki/Q632617","display_name":"Vergence (optics)","level":2,"score":0.6525524258613586},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.517456591129303},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2700451910495758},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2546950578689575},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.17187178134918213}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/864617","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/864617","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W845219001","https://openalex.org/W1027613733","https://openalex.org/W1697927439","https://openalex.org/W1825976265","https://openalex.org/W1957655654","https://openalex.org/W1964047175","https://openalex.org/W1964291102","https://openalex.org/W1973753081","https://openalex.org/W1976067945","https://openalex.org/W1998339166","https://openalex.org/W2015965796","https://openalex.org/W2016574277","https://openalex.org/W2016989767","https://openalex.org/W2024678007","https://openalex.org/W2027660534","https://openalex.org/W2065634969","https://openalex.org/W2070197618","https://openalex.org/W2075415119","https://openalex.org/W2086335348","https://openalex.org/W2091159008","https://openalex.org/W2100777810","https://openalex.org/W2101778912","https://openalex.org/W2103504172","https://openalex.org/W2116085720","https://openalex.org/W2122181352","https://openalex.org/W2161222115","https://openalex.org/W2296590611","https://openalex.org/W2466053294","https://openalex.org/W2532040183","https://openalex.org/W6644122343","https://openalex.org/W6677758418","https://openalex.org/W6677889844"],"related_works":["https://openalex.org/W2130280438","https://openalex.org/W2079582948","https://openalex.org/W4235148364","https://openalex.org/W1999531358","https://openalex.org/W2122050160","https://openalex.org/W4237651640","https://openalex.org/W2499388093","https://openalex.org/W2110525007","https://openalex.org/W2135835174","https://openalex.org/W2144558232"],"abstract_inverted_index":{"Vergence":[0],"control":[1,29,108,121,149],"and":[2,85,109,119],"tracking":[3],"allow":[4],"a":[5,13,51,65,73,102,123],"robot":[6],"to":[7,43,92,127,135,140],"maintain":[8],"an":[9],"accurate":[10,120],"estimate":[11],"of":[12,27,34,38,47,75,101,145],"dynamic":[14,143],"object":[15],"three":[16],"dimensions,":[17],"improving":[18],"depth":[19],"estimation":[20],"at":[21],"the":[22,39,68,95,99,132,141,146,148,151],"fixation":[23],"point.":[24],"Brain-inspired":[25],"implementations":[26],"vergence":[28,60,107],"are":[30],"based":[31],"on":[32,67],"models":[33],"complex":[35],"binocular":[36],"cells":[37,48],"visual":[40,89],"cortex":[41],"sensitive":[42],"disparity.":[44],"The":[45],"energy":[46],"activation":[49],"provides":[50],"disparity-related":[52],"signal":[53],"that":[54,111],"can":[55],"be":[56],"reliably":[57],"used":[58],"for":[59,106,122],"control.":[61],"We":[62,97],"implemented":[63],"such":[64],"model":[66],"neuromorphic":[69,104],"iCub,":[70],"equipped":[71],"with":[72],"pair":[74],"brain":[76],"inspired":[77],"vision":[78],"sensors.":[79],"Such":[80],"sensors":[81],"provide":[82],"low-latency,":[83],"compressed":[84],"high":[86,142],"temporal":[87],"resolution":[88],"information":[90],"related":[91],"changes":[93],"in":[94,115],"scene.":[96],"demonstrate":[98],"feasibility":[100],"fully":[103],"system":[105],"show":[110],"this":[112],"implementation":[113],"works":[114],"real-time,":[116],"providing":[117],"fast":[118],"moving":[124],"stimulus":[125],"up":[126],"2":[128],"Hz,":[129],"sensibly":[130],"decreasing":[131],"latency":[133],"associated":[134],"frame-based":[136],"cameras.":[137],"Additionally,":[138],"thanks":[139],"range":[144],"sensor,":[147],"shows":[150],"same":[152],"accuracy":[153],"under":[154],"very":[155],"different":[156],"illumination.":[157]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}