Moving the head and eye position to gaze at a moving target allows the iCub to keep focus on an object that may otherwise go outside the field-of-view. The sparse, low-latency sensor signal of the event camera can be exploited to achieve high frequency (> 1 kHz) tracking without a GPU. The low-latency signal tightens the control loop, resulting in a more responsive and accurate robot motion. A particle-filter tracking method dynamically estimates the temporal parameters needed for variation in both the target (a ball) speed and the robot movement. A tailored latency-control feedback mechanism is used to ensure real-time operation despite variation in the camera event-rate.