Internal observation and mutual adaptation in human-robot cooperation
Internal observation and mutual adaptation in human-robot cooperation
复制标题
人机合作中的内部观察与相互适应
DOI：
10.1109/icsmc.1998.726646
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Y. Tamura
中科院分区：
文献类型：
--
作者：
Y. Miyake;Toru Miyagawa;Y. Tamura
“内部观察”是指主体在主体与环境之间不可分割的相互干扰中观察环境，在多主体系统、群组机器人、人机界面等合作行为中广泛存在类似的情况，而传统的基于控制者与被控对象分离的系统理论框架已不适用于这些相互干扰的情况。在这种动态复杂性下，智能体不能完全识别其所处的环境，需要生成内部模型来解决这种不适定问题。因此，为了克服这一根本性的困难，我们提出了“双中心模型”为基础的自主代理，这是由两个不同的动态。一种是在相互干扰中自组织相干关系，另一种是利用内部模型将相干分离为两个单向的相互作用。通过这两个不同的动态之间的相互约束，代理生成假设的约束作为一个内部模型，代表代理和它的环境之间的相互作用。通过使用该模型，在相互干扰下的内部观察成为可能。作为一个实例，实现了人与机器人智能体在协作行为上的相互适应。
"Internal observation" means that an agent observes environment in inseparable mutual interference between the agent and its environment, and similar situations are widely observed in cooperative behavior in multi-agent system, group robots, human interface and so on. However, conventional framework of system theory which is based on separation between controller and controlled object can not be applicable to these mutually interferent situations. Under this kind of dynamical complexity, the agent can't completely identify its environment, and it should generate internal model to solve such ill-posed problem. Thus, to overcome this essential difficulty, we propose "dual-center model" based autonomous agent which is composed of two different dynamics. One is to self-organize coherent relationship in mutual interference, and the other is to separate the coherence into two one-sided interactions by using internal model. Through mutual constraint between these two different dynamics, the agent generates hypothetical constraints as an internal model which represents interaction between the agent and its environment. By using this model, internal observation under mutual interference becomes possible. As an example of it, mutual adaptation in cooperative behavior between human and robotic agent was realized.