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CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

Melanie Jouaiti 1 Patrick Henaff 1
1 NEUROSYS - Analysis and modeling of neural systems by a system neuroscience approach
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.
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Submitted on : Thursday, April 18, 2019 - 1:29:25 PM
Last modification on : Friday, April 19, 2019 - 1:29:17 AM


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  • HAL Id : hal-01825464, version 2



Melanie Jouaiti, Patrick Henaff. CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions. ARSO 2018 - IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy. ⟨hal-01825464v2⟩



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