A framework to describe, analyze and generate interactive motor behaviors.
A framework to describe, analyze and generate interactive motor behaviors.
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DOI：
10.1371/journal.pone.0049945
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发表时间：
2012
期刊：
影响因子：
3.7
通讯作者：
Burdet E
中科院分区：
文献类型：
--
作者：
Jarrassé N;Charalambous T;Burdet E
虽然机器人和人类之间或人类之间的运动交互对社会以及有前途的应用具有重要意义，但很少有研究致力于其调查。特别是，重要的是要了解两个代理可以交互的不同方式，并生成合适的交互行为。为此，本文介绍了一个框架，用于描述和实现两个代理执行联合电机任务的交互行为。介绍了一种交互行为的分类法，它可以对任务和代表每个代理交互方式的成本函数进行分类。在运动任务期间，代理交互的作用可以直接从该代理最小化的成本函数和任务约束来解释。新的框架是用来解释和分类以前的工作，人-机器人电机交互。它的实现能力通过模拟两个人的代表性交互来证明。它还使我们能够解释和解释在执行联合运动任务时的角色分配和角色之间的切换。
While motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks.