A developmental approach to robotic pointing via human-robot interaction
A developmental approach to robotic pointing via human-robot interaction
复制标题
通过人机交互实现机器人指向的开发方法
DOI：
10.1016/j.ins.2014.03.104
复制
发表时间：
2014-11-01
影响因子：
8.1
通讯作者：
Shen, Qiang
中科院分区：
文献类型：
--
作者：
Chao, Fei;Wang, Zhengshuai;Shen, Qiang
指向的能力被认为是机器人在其通信和社会互动中的基本技能。本文介绍了一种发展性的学习方法，机器人指向，通过利用人类和机器人之间的相互作用。该方法的灵感来自于观察人类婴儿的发育过程。它的工作原理是首先应用强化学习算法来引导机器人尝试向机器人初始可达空间之外的显着物体移动。通过这样的运动，人类演示者能够理解机器人想要触摸目标的愿望，从而帮助机器人最终成功到达目标。人机交互有助于建立对人类和机器人感知中的指向手势的理解。由此，机器人可以收集成功的指向手势，以学习如何与人类互动。发展限制被用来驱动整个学习过程。实验结果表明，该方法可以使机器人逐渐获得理想的指向能力。它还允许所得到的机器人系统表现出与人类婴儿相似的发育进展和特征。(C)2014作者爱思唯尔公司出版这是CC BY许可下的开放获取文章（http：//creativecommons.org/licenses/by/3.0/）。
The ability of pointing is recognised as an essential skill of a robot in its communication and social interaction. This paper introduces a developmental learning approach to robotic pointing, by exploiting the interactions between a human and a robot. The approach is inspired through observing the process of human infant development. It works by first applying a reinforcement learning algorithm to guide the robot to create attempt movements towards a salient object that is out of the robot's initial reachable space. Through such movements, a human demonstrator is able to understand the robot desires to touch the target and consequently, to assist the robot to eventually reach the object successfully. The human robot interaction helps establish the understanding of pointing gestures in the perception of both the human and the robot. From this, the robot can collect the successful pointing gestures in an effort to learn how to interact with humans. Developmental constraints are utilised to drive the entire learning procedure. The work is supported by experimental evaluation, demonstrating that the proposed approach can lead the robot to gradually gain the desirable pointing ability. It also allows that the resulting robot system exhibits similar developmental progress and features as with human infants. (C) 2014 The Authors. Published by Elsevier Inc. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/3.0/).