Article published in:
New Frontiers in Human–Robot InteractionEdited by Kerstin Dautenhahn and Joe Saunders
[Advances in Interaction Studies 2] 2011
► pp. 135–164
A dynamic field approach to goal inference, error detection and anticipatory action selection in human-robot collaboration
Estela Bicho | University of Minho, Portugal
Wolfram Erlhagen | University of Minho, Portugal
Luís Louro | University of Minho, Portugal
Eliana Costa e Silva | University of Minho, Portugal
Rui Silva | University of Minho, Portugal
Nzoji Hipolito | University of Minho, Portugal
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.
Published online: 21 December 2011
https://doi.org/10.1075/ais.2.10bic
https://doi.org/10.1075/ais.2.10bic
Cited by
Cited by 7 other publications
Bicho, E., W. Erlhagen, E. Sousa, L. Louro, N. Hipolito, E. C. Silva, R. Silva, F. Ferreira, T. Machado, M. Hulstijn, Y. Maas, E. de Bruijn, R. H. Cuijpers, R. Newman-Norlund, H. van Schie, R.G.J. Meulenbroek & H. Bekkering
Costa e Silva, Eliana, Fernanda Costa, Estela Bicho & Wolfram Erlhagen
Franklin, Stan, Tamas Madl, Sidney D'Mello & Javier Snaider
Malheiro, Tiago, Estela Bicho, Toni Machado, Luis Louro, Sergio Monteiro, Paulo Vicente & Wolfram Erlhagen
Silva, Rui, Luís Louro, Tiago Malheiro, Wolfram Erlhagen & Estela Bicho
Wojtak, Weronika, Flora Ferreira, Paulo Vicente, Luís Louro, Estela Bicho & Wolfram Erlhagen
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