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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2026  > In Press, Accepted Manuscript
D. Ma, R. Huang, and L. Jin, “Cerebellum-inspired visual servoing and orientation control for redundant manipulators,” IEEE/CAA J. Autom. Sinica, early access, 2026. doi: 10.1109/JAS.2026.126302
Citation: D. Ma, R. Huang, and L. Jin, “Cerebellum-inspired visual servoing and orientation control for redundant manipulators,” IEEE/CAA J. Autom. Sinica, early access, 2026. doi: 10.1109/JAS.2026.126302
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Cerebellum-Inspired Visual Servoing and Orientation Control for Redundant Manipulators

doi: 10.1109/JAS.2026.126302
Funds:  This work was supported by the National Natural Science Foundation of China (62476115), and in part by the Supercomputing Center of Lanzhou University
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    Abstract
  • Cerebellum-inspired control schemes simulate the motor control capabilities of the cerebellum and have achieved notable progress in trajectory tracking tasks without addressing the challenges of visual servoing of the redundant manipulator. In this paper, a cerebellum model is constructed according to similarities between the cerebellum and the echo state network (ESN), and a cerebellum-inspired visual servoing and orientation control (CIVSOC) scheme is proposed based on the cerebellum model. The proposed scheme achieves the visual servoing control of the redundant manipulator while maintaining the stable orientation of the end-effector. Furthermore, to reduce the effect of noise, a Kalman filter (KF) is integrated into the control scheme and improves the robustness. Finally, simulations and experiments validate the effectiveness of the CIVSOC scheme in achieving both visual servoing and orientation control of the manipulator.

     

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