Using Sensory-Motor Phase-Plots to Characterise Robot-Environment Interactions
Mirza, N.A.; Nehaniv, C.L.; Dautenhahn, K.; Te Boekhorst, R.
Citation: Mirza , N A , Nehaniv , C L , 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 , IEEE , pp. 581-586 , 2005 IEEE Int Symposium of Computational Intelligence in Robotics & Automation , Espoo , Finland , 27-30 June .
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.
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.