John Benjamins Publishing Company
A dynamic field approach to goal inference, error detection and anticipatory action selection in human-robot collaboration
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Abstract
In this chapter we present results of our ongoing research on efficient and fluent human-robot collaboration that is heavily inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of the user’s motor behavior. The architecture is formalized as a coupled system of dynamic neural fields representing a distributed network of local but connected neural populations with specific functionalities. We validate the approach in a task in which a robot and a human user jointly construct a toy ‘vehicle’. We show that the context-dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing joint action situations. More specifically, the results illustrate crucial cognitive capacities for efficient and successful human-robot collaboration such as goal inference, error detection and anticipatory action selection.
Abstract
In this chapter we present results of our ongoing research on efficient and fluent human-robot collaboration that is heavily inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of the user’s motor behavior. The architecture is formalized as a coupled system of dynamic neural fields representing a distributed network of local but connected neural populations with specific functionalities. We validate the approach in a task in which a robot and a human user jointly construct a toy ‘vehicle’. We show that the context-dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing joint action situations. More specifically, the results illustrate crucial cognitive capacities for efficient and successful human-robot collaboration such as goal inference, error detection and anticipatory action selection.
Chapters in this book
- Prelim pages i
- Table of contents v
- Introduction 1
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The human in the loop
- Helping robots imitate 9
- The role of expectations and situations in human-robot interaction 35
- Validating characterizations of sociality in HRI 57
- Attitudes toward robots and factors influencing them 73
- The USUS evaluation framework for user-centered HRI 89
- Toward making robots invisible-in-use 111
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Joint action, collaboration and communication
- A dynamic field approach to goal inference, error detection and anticipatory action selection in human-robot collaboration 135
- Accessing robot acceptance by motor interference 165
- Evaluation of robot body movements supporting communication 185
- The acquisition of word semantics by a humanoid robot via interaction with a human tutor 211
- Communication robots 235
- Designing domestic robots with personality 257
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Robots in therapy, safety and communication
- Touch-triggered withdrawal reflexes for safer robots 281
- Rehabilitation robots 305
- Notes 327
- Index 329
Chapters in this book
- Prelim pages i
- Table of contents v
- Introduction 1
-
The human in the loop
- Helping robots imitate 9
- The role of expectations and situations in human-robot interaction 35
- Validating characterizations of sociality in HRI 57
- Attitudes toward robots and factors influencing them 73
- The USUS evaluation framework for user-centered HRI 89
- Toward making robots invisible-in-use 111
-
Joint action, collaboration and communication
- A dynamic field approach to goal inference, error detection and anticipatory action selection in human-robot collaboration 135
- Accessing robot acceptance by motor interference 165
- Evaluation of robot body movements supporting communication 185
- The acquisition of word semantics by a humanoid robot via interaction with a human tutor 211
- Communication robots 235
- Designing domestic robots with personality 257
-
Robots in therapy, safety and communication
- Touch-triggered withdrawal reflexes for safer robots 281
- Rehabilitation robots 305
- Notes 327
- Index 329
