Adaptive timing in a dynamic field architecture for natural human–robot interactions

Detalhes bibliográficos
Autor(a) principal: Wojtak, Weronika
Data de Publicação: 2023
Outros Autores: Ferreira, Flora José Rocha, Louro, Luís, Bicho, Estela, Erlhagen, Wolfram
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/1822/85747
Resumo: Versão final publicada: https://www.sciencedirect.com/science/article/pii/S1389041723000761
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spelling Adaptive timing in a dynamic field architecture for natural human–robot interactionsTemporal cognitionHuman–robot interactionsDynamic Field TheoryNeurodynamicsAdaptive BehaviorError monitoringAdaptationCiências Naturais::MatemáticasVersão final publicada: https://www.sciencedirect.com/science/article/pii/S1389041723000761A close temporal coordination of actions and goals is crucial for natural and fluent human–robot interactions in collaborative tasks. How to endow an autonomous robot with a basic temporal cognition capacity is an open question. In this paper, we present a neurodynamics approach based on the theoretical framework of dynamic neural fields (DNF) which assumes that timing processes are closely integrated with other cognitive computations. The continuous evolution of neural population activity towards an attractor state provides an implicit sensation of the passage of time. Highly flexible sensorimotor timing can be achieved through manipulations of inputs or initial conditions that affect the speed with which the neural trajectory evolves. We test a DNF-based control architecture in an assembly paradigm in which an assistant hands over a series of pieces which the operator uses among others in the assembly process. By watching two experts, the robot first learns the serial order and relative timing of object transfers to subsequently substitute the assistant in the collaborative task. A dynamic adaptation rule exploiting a perceived temporal mismatch between the expected and the realized transfer timing allows the robot to quickly adapt its proactive motor timing to the pace of the operator even when an additional assembly step delays a handover. Moreover, the self-stabilizing properties of the population dynamics support the fast internal simulation of acquired task knowledge allowing the robot to anticipate serial order errorsThis work is financed by national funds through FCT – Fundação para a Ciência e a Tecnologia, I.P., within the scope of the projects ‘‘NEUROFIELD’’ (Ref PTDC/MAT-APL/31393/2017), ‘‘I-CATER – Intelligent Robotic Coworker Assistant for Industrial Tasks with an Ergonomics Rationale’’ (Ref PTDC/EEI-ROB/3488/2021) and R&D Units Project Scope: UIDB/00319/2020 – ALGORITMI Research Centre.Universidade do MinhoWojtak, WeronikaFerreira, Flora José RochaLouro, LuísBicho, EstelaErlhagen, Wolfram20232023-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/1822/85747engWojtak, Weronika and Ferreira, Flora and Louro, Luis and Bicho, Estela and Erlhagen, Wolfram, Adaptive Timing in a Dynamic Field Architecture for Natural Human-Robot Interactions (October 8, 2022). Available at SSRN: https://ssrn.com/abstract=4241650 or http://dx.doi.org/10.2139/ssrn.4241650info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-12-02T01:20:22Zoai:repositorium.sdum.uminho.pt:1822/85747Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:10:02.152369Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Adaptive timing in a dynamic field architecture for natural human–robot interactions
title Adaptive timing in a dynamic field architecture for natural human–robot interactions
spellingShingle Adaptive timing in a dynamic field architecture for natural human–robot interactions
Wojtak, Weronika
Temporal cognition
Human–robot interactions
Dynamic Field Theory
Neurodynamics
Adaptive Behavior
Error monitoring
Adaptation
Ciências Naturais::Matemáticas
title_short Adaptive timing in a dynamic field architecture for natural human–robot interactions
title_full Adaptive timing in a dynamic field architecture for natural human–robot interactions
title_fullStr Adaptive timing in a dynamic field architecture for natural human–robot interactions
title_full_unstemmed Adaptive timing in a dynamic field architecture for natural human–robot interactions
title_sort Adaptive timing in a dynamic field architecture for natural human–robot interactions
author Wojtak, Weronika
author_facet Wojtak, Weronika
Ferreira, Flora José Rocha
Louro, Luís
Bicho, Estela
Erlhagen, Wolfram
author_role author
author2 Ferreira, Flora José Rocha
Louro, Luís
Bicho, Estela
Erlhagen, Wolfram
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Wojtak, Weronika
Ferreira, Flora José Rocha
Louro, Luís
Bicho, Estela
Erlhagen, Wolfram
dc.subject.por.fl_str_mv Temporal cognition
Human–robot interactions
Dynamic Field Theory
Neurodynamics
Adaptive Behavior
Error monitoring
Adaptation
Ciências Naturais::Matemáticas
topic Temporal cognition
Human–robot interactions
Dynamic Field Theory
Neurodynamics
Adaptive Behavior
Error monitoring
Adaptation
Ciências Naturais::Matemáticas
description Versão final publicada: https://www.sciencedirect.com/science/article/pii/S1389041723000761
publishDate 2023
dc.date.none.fl_str_mv 2023
2023-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/1822/85747
url https://hdl.handle.net/1822/85747
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Wojtak, Weronika and Ferreira, Flora and Louro, Luis and Bicho, Estela and Erlhagen, Wolfram, Adaptive Timing in a Dynamic Field Architecture for Natural Human-Robot Interactions (October 8, 2022). Available at SSRN: https://ssrn.com/abstract=4241650 or http://dx.doi.org/10.2139/ssrn.4241650
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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