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This paper is part of a study of gaze control for a two-eyed robot head. The kinematics of the head and eye movement planning for the subcontrols loosely corresponding to saccade, pursuit, VOR(vestibulo-ocular reflex), OKR(optokinetic reflex), and vergence are presented.doi:10.1007/978-1-4471-1921-0_41 fatcat:m7muglnrxja47ffamxp3bmdnti