Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions

N.A. Mirza, C.L. Nehaniv, K. Dautenhahn, R. Te Boekhorst

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)
35 Downloads (Pure)

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 2-dimensional "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.
Original languageEnglish
Title of host publicationProcs 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation
Subtitle of host publicationCIRA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages581-586
Volume2005
ISBN (Print)0-7803-9355-4
Publication statusPublished - 2005
Event2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation - Espoo, Finland
Duration: 27 Jun 200530 Jun 2005

Conference

Conference2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation
Country/TerritoryFinland
CityEspoo
Period27/06/0530/06/05

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