Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans

Lall�e, St�phane; Pattacini, Ugo; Lemaignan, S�verin; Lenz, Alexander; Melhuish, Chris; Natale, Lorenzo; Skachek, Sergey; Hamann, Katharina; Steinwender, Jasmin; Sisbot, Emrah Akin; Metta, Giorgio; Guitton, Julien; Alami, Rachid; Warnier, Matthieu; Pipe, Tony; Warneken, Felix; Dominey, Peter Ford

Abstract

Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the cooperative tasks by observing and interacting with humans. The current research addresses this challenge. We present results from a cooperative human-robot interaction system that has been specifically developed for portability between different humanoid platforms, by abstraction layers at the perceptual and motor interfaces. In the perceptual domain, the resulting system is demonstrated to learn to recognize objects and to recognize actions as sequences of perceptual primitives, and to transfer this learning, and recognition, between different robotic platforms. For execution, composite actions and plans are shown to be learnt on one robot and executed successfully on a different one. Most importantly, the system provides the ability to link actions into shared plans, that form the basis of human-robot cooperation, applying principles from human cognitive development to the domain of robot cognitive systems. © 2009-2011 IEEE.

• Journal Article Type: Article
• Acceptance Date: May 23, 2012
• Publication Date: 2012
• Deposit Date: Oct 19, 2018
• Publicly Available Date: Oct 19, 2018
• Journal: IEEE Transactions on Autonomous Mental Development
• Print ISSN: 1943-0604
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 4
• Issue: 3
• Pages: 239-253
• DOI: https://doi.org/10.1109/TAMD.2012.2199754
• Keywords: humans, robot kinematics, context, computer architecture, ontologies, knowledge based systems
• Public URL: https://uwe-repository.worktribe.com/output/947072
• Publisher URL: http://dx.doi.org/10.1109/TAMD.2012.2199754
• Additional Information: Additional Information : (c) 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
• Contract Date: Oct 19, 2018