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A Framework to Describe, Analyze and Generate Interactive Motor Behaviors
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2012 (English)In: PLoS ONE, ISSN 1932-6203, Vol. 7, no 11, e49945- p.Article in journal (Refereed) Published
Abstract [en]

While motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks.

Place, publisher, year, edition, pages
2012. Vol. 7, no 11, e49945- p.
Keyword [en]
article, classification algorithm, conceptual framework, cost minimization analysis, human computer interaction, interactive motor behavior, locomotion, mathematical computing, motor performance, process model, robotics, taxonomy
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-110204DOI: 10.1371/journal.pone.0049945ISI: 000312376100039ScopusID: 2-s2.0-84870619582OAI: diva2:586133
EU, FP7, Seventh Framework Programme, FP7-231724 HUMOUR

QC 20130111

Available from: 2013-01-11 Created: 2013-01-10 Last updated: 2013-02-01Bibliographically approved

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Charalambous, Themistoklis
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Automatic ControlACCESS Linnaeus Centre
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