  Gaze stabilization is fundamental for humanoid robots. By stabilizing vision,
it enhances perception of the environment and keeps points of interest in the
field of view. In this contribution, a multimodal gaze stabilization combining
classic inverse kinematic control with vestibulo-ocular and optokinetic
reflexes is introduced. Inspired by neuroscience, it implements a forward model
that can modulate the reflexes based on the reafference principle. This
principle filters self-generated movements out of the reflexive feedback loop.
The versatility and effectiveness of this method are experimentally validated
on the Armar-III humanoid robot. It is first demonstrated that each
stabilization mechanism (inverse kinematics and reflexes) performs better than
the others as a function of the type of perturbation to be stabilized.
Furthermore, combining these three modalities by reafference provides a
universal gaze stabilizer which can handle any kind of perturbation.
