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

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

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 proceeding › Conference contribution

7 Citations (Scopus)

42 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 language	English
Title of host publication	Procs 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation
Subtitle of host publication	CIRA
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	581-586
Volume	2005
ISBN (Print)	0-7803-9355-4
Publication status	Published - 2005
Event	2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation - Espoo, Finland Duration: 27 Jun 2005 → 30 Jun 2005

Conference

Conference	2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation
Country/Territory	Finland
City	Espoo
Period	27/06/05 → 30/06/05

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Cite this

@inproceedings{6b649073f8a141c29898475fa948659f,

title = "Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions",

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.",

author = "N.A. Mirza and C.L. Nehaniv and K. Dautenhahn and \{Te Boekhorst\}, R.",

note = "The work described in this paper was conducted within the EU Integrated Project RobotCub ({"}Robotic Open-architecture Technology for Cognition, Understanding, and Behaviours{"}) and was funded by the European Commission through the E5 Unit (Cognition) of FP6-IST under Contract FP6-004370.; 2005 IEEE Int Symposium of Computational Intelligence in Robotics \& Automation ; Conference date: 27-06-2005 Through 30-06-2005",

year = "2005",

language = "English",

isbn = "0-7803-9355-4",

volume = "2005",

pages = "581--586",

booktitle = "Procs 2005 IEEE Int Symposium of Computational Intelligence in Robotics \& Automation",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Mirza, NA, Nehaniv, CL , Dautenhahn, K & Te Boekhorst, R 2005, Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions. in Procs 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation: CIRA. vol. 2005, Institute of Electrical and Electronics Engineers (IEEE), pp. 581-586, 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation, Espoo, Finland, 27/06/05.

Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions. / Mirza, N.A.; Nehaniv, C.L.; Dautenhahn, K. et al.
Procs 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation: CIRA. Vol. 2005 Institute of Electrical and Electronics Engineers (IEEE), 2005. p. 581-586.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions

AU - Mirza, N.A.

AU - Nehaniv, C.L.

AU - Dautenhahn, K.

AU - Te Boekhorst, R.

N1 - The work described in this paper was conducted within the EU Integrated Project RobotCub ("Robotic Open-architecture Technology for Cognition, Understanding, and Behaviours") and was funded by the European Commission through the E5 Unit (Cognition) of FP6-IST under Contract FP6-004370.

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

M3 - Conference contribution

SN - 0-7803-9355-4

VL - 2005

SP - 581

EP - 586

BT - Procs 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation

Y2 - 27 June 2005 through 30 June 2005

ER -

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

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