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)
    31 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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