DocumentCode :
2720544
Title :
Using sensory-motor phase-plots to characterise robot-environment interactions
Author :
Mirza, Naeem Assif ; Nehaniv, Chrystopher L. ; Dautenhahn, Kerstin ; Boekhorst, Rt.
Author_Institution :
Sch. of Comput. Sci., Hertfordshire Univ., UK
fYear :
2005
fDate :
27-30 June 2005
Firstpage :
581
Lastpage :
586
Abstract :
Information theoretic methods are used to characterise and identify robot-environment interactions, with a view to using these to build an embodied interaction history from the robot\´s perspective. A bottom-up approach is taken using uninterpreted raw sensor and motor data. Interactions are analysed by calculating the average information distance (AID) between all sensors and motors over a moving time window and used to create 2D "phase-plots" that can be thought of as describing the current interaction. Sensor-motor AID phase-plots are shown to be able to distinguish simple behaviours among a sequence of behaviours.
Keywords :
cognitive systems; information theory; robots; sensors; AID; average information distance; embodied cognition; information theory; interaction history; motor data; ontogenetic robotics; raw sensor; robot-environment interaction; sensory-motor phase-plots; Adaptive systems; Cognition; Cognitive robotics; Computer science; History; Information theory; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Tellurium; Embodied Cognition; Information Theory; Interaction History; Ontogenetic Robotics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
Type :
conf
DOI :
10.1109/CIRA.2005.1554339
Filename :
1554339
Link To Document :
بازگشت