Abstract: For the gaze shifts with asymmetrical depth in the horizontal plane of bionic eyes, a piecewise control strategy of eye-head coordinative motion was proposed according to the amplitude of gaze shifts, and the motion model of bionic eyes was developed. When the amplitude of gaze shifts is smaller than the head movement threshold, the eyes move only by saccade-vergence. When the amplitude is larger than the head movement threshold and smaller than the saturation threshold of eye movement with head at rest, gaze shifts are accomplished with eye-head coordinative movements. When the amplitude is larger than the saturation threshold, the head first moves to the saturation threshold of eye movement with head at rest, then eyes and head movement are controlled by eye-head coordinative control method. The simulation results show that control strategy proposed can accurately and effectively control gaze shifts in the horizontal plane of bionic eyes.

Key words: bionic eye, gaze shifts, head-eye coordination, motion-control model