Motor Coordination Learning for Rhythmic Movements

Abstract : The perspective of ubiquitous robots raises the issue of social acceptance. It is our belief that a successful robot integration relies on adequate social responses. Human social interactions heavily rely on synchrony which leads humans to connect emotionally. It is henceforth, our opinion, that motor coordination mechanisms should be fully integrated to robot controllers, allowing coordination, and thus social synchrony, when required. The aim of the work presented in this paper is to learn motor coordination with a human partner performing rhythmic movements. For that purpose, plastic Central Pattern Generators (CPG) are implemented in the joints of the Pepper robot. Hence, in this paper, we present an adaptive versatile model which can be used for any rhythmic movement and combination of joints. This is demonstrated with various arm movements.
Document type :
Conference papers
Complete list of metadatas

Cited literature [27 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02144957
Contributor : Melanie Jouaiti <>
Submitted on : Thursday, July 11, 2019 - 4:36:20 PM
Last modification on : Thursday, January 16, 2020 - 1:22:13 AM

File

EPIROB2019_Adaptive-2.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02144957, version 1

Collections

Citation

Melanie Jouaiti, Patrick Henaff. Motor Coordination Learning for Rhythmic Movements. Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway. ⟨hal-02144957⟩

Share

Metrics

Record views

37

Files downloads

100