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

Mirza, N.A., Nehaniv, C.L., Dautenhahn, K. and 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. Institute of Electrical and Electronics Engineers (IEEE), FIN, pp. 581-586. ISBN 0-7803-9355-4

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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.

Item Type	Book Section
Additional information	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.
Date Deposited	15 May 2025 16:24
Last Modified	05 Jun 2025 23:09

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