A Framework to Describe, Analyze and Generate Interactive Motor Behaviors

International audienceWhile 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

Communicating with feeling

Communication between users in shared editors takes place in a deprived environment - distributed users find it difficult to communicate. While many solutions to the problems this causes have been suggested this paper presents a novel one. It describes one possible use of haptics as a channel for communication between users. User's telepointers are considered as haptic avatars and interactions such as haptically pushing and pulling each other are afforded. The use of homing forces to locate other users is also discussed, as is a proximity sensation based on viscosity. Evaluation of this system is currently underway

Expressing Tacit Material Sensations from a Robo-Sculpting Process by Communicating Shared Haptic Experiences

A sculptor's sense of touch is paramount because we experience sculpting in the iterative process of making new objects. Making sculpture is a process of expressing the inner 'tacit-self' by way of tangible material interactions that become shared artefacts. The existence of tacit- tactile awareness indicates a natural world of personal haptic experience that this thesis will attempt to unpack. Tele-haptic solutions are presented in the form of two robotic sculptures, Touchbot #1 and Touchbot #2. Touchbots (collectively) are the study objects that this practice- based art-research thesis produced, to ask the question: Is it possible to create a machine that could capture and retransmit tacit-tactile experiences within the artistic act of sculpting, through material engagement, from a sculptor's hand to a non-sculptor's hand? Research, conducted and presented, aims to demonstrate that robotic haptic feedback is a vehicle for communicating 'touch' messages through mechanical transmission during sculptural actions (demonstrated through participant interviews and video observation analysis). Additionally, an epistemological context for exploring 'hands-on' knowledge and practice deficits in machine-assisted object modelling is presented including: Michael Polanyi's Tacit Dimension (Polanyi, 2009), David Gooding's Thing Knowledge (Gooding, 2004, p. 1) and Lambros Malafouris' "Material Agency" and material culture (Malafouris, 2008, pp. 19-36). Intersecting bodies of knowledge weave a common thread to support developing a method of communicating tacit sculptural information using haptic touch experience. Unfortunately, there exists more tele-haptics and telerobotics technology for industrial applications than artworks using the same technology. For instance, 'rapid prototyping' technology—such as 3D printers—is removing human tactile-material interaction from object making altogether. In response to the technological obstacle of expanding contemporary interactive sculpture, haptics is applied to include real-time, iterative, robotically assisted object modelling. A review of contemporary haptic technology demonstrates a gap in our understanding iii of embodied knowledge transference. A shortlist of contemporary artists and their works that address the communication of tacit-haptic experiences is also offered, highlighting the importance of exploring embodied knowledge transfer

Expressing Tacit Material Sensations from a Robo-Sculpting Process by Communicating Shared Haptic Experiences

A sculptor's sense of touch is paramount because we experience sculpting in the iterative process of making new objects. Making sculpture is a process of expressing the inner 'tacit-self' by way of tangible material interactions that become shared artefacts. The existence of tacit- tactile awareness indicates a natural world of personal haptic experience that this thesis will attempt to unpack. Tele-haptic solutions are presented in the form of two robotic sculptures, Touchbot #1 and Touchbot #2. Touchbots (collectively) are the study objects that this practice- based art-research thesis produced, to ask the question: Is it possible to create a machine that could capture and retransmit tacit-tactile experiences within the artistic act of sculpting, through material engagement, from a sculptor's hand to a non-sculptor's hand? Research, conducted and presented, aims to demonstrate that robotic haptic feedback is a vehicle for communicating 'touch' messages through mechanical transmission during sculptural actions (demonstrated through participant interviews and video observation analysis). Additionally, an epistemological context for exploring 'hands-on' knowledge and practice deficits in machine-assisted object modelling is presented including: Michael Polanyi's Tacit Dimension (Polanyi, 2009), David Gooding's Thing Knowledge (Gooding, 2004, p. 1) and Lambros Malafouris' "Material Agency" and material culture (Malafouris, 2008, pp. 19-36). Intersecting bodies of knowledge weave a common thread to support developing a method of communicating tacit sculptural information using haptic touch experience. Unfortunately, there exists more tele-haptics and telerobotics technology for industrial applications than artworks using the same technology. For instance, 'rapid prototyping' technology—such as 3D printers—is removing human tactile-material interaction from object making altogether. In response to the technological obstacle of expanding contemporary interactive sculpture, haptics is applied to include real-time, iterative, robotically assisted object modelling. A review of contemporary haptic technology demonstrates a gap in our understanding iii of embodied knowledge transference. A shortlist of contemporary artists and their works that address the communication of tacit-haptic experiences is also offered, highlighting the importance of exploring embodied knowledge transfer

A Novel Real-Time MATLAB/Simulink/LEGO EV3 Platform for Academic Use in Robotics and Computer Science

Over the last years, mobile robot platforms are having a key role in education worldwide. Among others, LEGO Robots and MATLAB/Simulink are being used mainly in universities to improve the teaching experience. Most LEGO systems used in the literature are based on NXT, as the EV3 version is relatively recent. In contrast to the previous versions, the EV3 allows the development of real-time applications for teaching a wide variety of subjects as well as conducting research experiments. The goal of the research presented in this paper was to develop and validate a novel real-time educational platform based on the MATLAB/Simulink package and the LEGO EV3 brick for academic use in the fields of robotics and computer science. The proposed framework is tested here in different university teaching situations and several case studies are presented in the form of interactive projects developed by students. Without loss of generality, the platform is used for testing different robot path planning algorithms. Classical algorithms like rapidly-exploring random trees or artificial potential fields, developed by robotics researchers, are tested by bachelor students, since the code is freely available on the Internet. Furthermore, recent path planning algorithms developed by the authors are also tested in the platform with the aim of detecting the limits of its applicability. The restrictions and advantages of the proposed platform are discussed in order to enlighten future educational applications