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Autonomous robot systems and competitions : proceedings of the 12th Internation...
Bicho, E., ed. lit.; Ribeiro, Fernando, ed. lit.; Louro, Luis, ed. lit.This is the 2012’s edition of the scientific meeting of the Portuguese Robotics Open (ROBOTICA’ 2012). It aims to disseminate scientific contributions and to promote discussion of theories, methods and experiences in areas of relevance to Autonomous Robotics and Robotic Competitions. All accepted contributions are included in this proceedings book. The conference program has also included an invited talk by Dr....
The power of prediction : robots that read intentions
Bicho, E.; Erlhagen, Wolfram; Sousa, Emanuel; Louro, Luís; Meulenbroek, Ruud; Bekkering, Harold; Hipólito, Nzoji; Silva, Eliana Costa eHumans are experts in cooperating in a smooth and proactive manner. Action and intention understanding are critical components of efficient joint action. In the context of the EU Integrated Project JAST [16] we have developed an anthropomorphic robot endowed with these cognitive capacities. This project and respective robot (ARoS) is the focus of the video. More specifically, the results illustrate crucial cogn...
A dynamic field approach to goal inference, error detection and anticipatory ac...
Bicho, E.; Erlhagen, Wolfram; Louro, Luís; Silva, Eliana Costa e; Silva, Rui Manuel Gomes; Hipólito, NzojiIn this chapter we present results of our ongoing research on efficient and fluent human-robot collaboration that is heavily inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predict...
Neuro-cognitive mechanisms of decision making in joint : a human–robot interact...
Bicho, E.; Erlhagen, Wolfram; Louro, Luís; Silva, Eliana Costa eIn this paper we present a model for action preparation and decision making in cooperative tasks that is inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. It implements the coordination of actions and goals among the partners as a dynamic process that integrates contextual cues, shared task knowledge and predicted outcome of others’ motor behavior. T...
Controlo e representações para tarefas de colaboração humano-robô
Louro, LuísTese de doutoramento em Engenharia Electrónica e de Computadores ; Nesta Tese foi desenvolvida uma arquitectura de controlo cognitiva que permite a um robô trabalhar em conjunto com um humano, tendo sido escolhida como tarefa de validação a construção cooperativa de objectos. A arquitectura de controlo é inspirada pelas mais recentes investigações a nível teórico e experimental sobre os mecanismos neuro-cognit...
Integrating verbal and nonverbal communication in a dynamic neural field archit...
Bicho, E.; Louro, Luís; Erlhagen, WolframHow do humans coordinate their intentions, goals and motor behaviors when performing joint action tasks? Recent experimental evidence suggests that resonance processes in the observer’s motor system are crucially involved in our ability to understand actions of others’, to infer their goals and even to comprehend their action-related language. In this paper, we present a control architecture for human–robot col...
A dynamic field approach to goal inference and error monitoring for human-robot...
Bicho, E.; Louro, Luís; Hipólito, Nzoji; Erlhagen, WolframIn this paper we present results of our ongoing research on non-verbal human-robot interaction that is heavily inspired by recent experimental findings about the neuro-cognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of...
Competitive dynamics for behavior coordination in a joint transportation task
Bicho, Estela; Louro, Luis; Soares, Rui; Erlhagen, WolframWe address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results i...
Combining goal inference and natural-language dialogue for human-robot joint ac...
Foster, Mary Ellen; Giuliani, Manuel; Müller, Thomas; Knoll, Alois; Erlhagen, Wolfram; Bicho, E.; Hipólito, Nzoji; Louro, LuísWe demonstrate how combining the reasoning components from two existing systems designed for human-robot joint action produces an integrated system with greater capabilities than either of the individual systems. One of the systems supports primarily non-verbal interaction and uses dynamic neural fields to infer the user’s goals and to suggest appropriate system responses; the other emphasises natural-language ...
Coordinated transportation with minimal explicit communication between robots
Bicho, E.; Louro, Luís; Erlhagen, WolframPreprint ; We propose and demonstrate how attractor dynamics can be used to design and implement a distributed dynamic control architecture that enables a team of two robots, without force/torque sensors and equipped solely with low-level sensors, to carry a long object and simultaneously avoid obstacles. The explicit required communication between robots is minimal. The robots have no prior knowledge of their...
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