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Studying and modeling Unintentional Rhythmical Entrainment to enhance Learning and Coordination in Human Robot Interactions| old_uid | 18085 |
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| title | Studying and modeling Unintentional Rhythmical Entrainment to enhance Learning and Coordination in Human Robot Interactions |
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| start_date | 2019/12/05 |
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| schedule | 10h30-12h |
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| online | no |
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| summary | We address the issue related to the integration of robots in a social environment. This context brings forth Human Robot Interaction problem such as modelling non-verbal behaviour which is crucial to the achievement of collaborative tasks. In the presentation, we especially address the issue of Human Robot coordination.
The singularity of the present approach lies in the inclusion of unintentional characteristics of interpersonal coordination. We defend the interest of including a low-level rythmic entrainment effect inspired by dynamical system theories in a sensorimotor control exploiting oscillators for Human robot coordination. In this way, we put forward a model based on the integration of visual data in an oscillator which controls a robot. Through several experiments with naive subjects, we validate this model, study Human robot synchronisation and show the interest of exploiting such model not only to enhance synchronisation between a Human and a robot but also to provide tools to study unintentional phenomenons. Those results allow us to implement a model for the learning of rhythmic movements by imitation founded on an oscillator based decomposition of motor trajectories. Notably, we show that the addition of a rhythmic entrainment effect to the oscillators bank allows a flexibility that greatly simplifies learning and the converging toward the desired frequencies and phase. Thus, we show that such low-leveled mechanism can influence and enhance several phenomenons at different scale. As an application framework, we suggest a possible solution to the problem of grasping and handing an object from a Human to a robot. |
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| responsibles | Marin |
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