Information-theoretic measures as a generic approach to human-robot interaction : Application in CORBYS project

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/AuthorThe objective of the CORBYS project is to design and implement a robot control architecture that allows the integration of high-level cognitive control modules, such as a semantically-driven self-awareness module and a cognitive framework for anticipation of, and synergy with, human behaviour based on biologically-inspired information-theoretic principles. CORBYS aims to provide a generic control architecture to benefit a wide range of applications where robots work in synergy with humans, ranging from mobile robots such as robotic followers to gait rehabilitation robots. The behaviour of the two demonstrators, used for validating this architecture, will each be driven by a combination of task specific algorithms and generic cognitive algorithms. In this paper we focus on the generic algorithms based on information theoryFinal Accepted Versio

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