Affordance-based altruistic robotic architecture for human–robot collaboration

Name: Affordance-based altruistic robotic architecture for human–robot collaboration
Author: Imre, M., Öztop, Erhan, Nagai, Y., Ugur, E.

İsim	Affordance-based altruistic robotic architecture for human–robot collaboration
Yazar	Imre, M., Öztop, Erhan, Nagai, Y., Ugur, E.
Basım Tarihi:	2019-08
Basım Yeri	- Sage
Konu	Altruistic behavior, Computational modeling, Brain-inspired robotics, Affordances, Human-robot interaction, Goal inference
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1059-7123
Kayıt Numarası	876eca76-29d1-408b-be1a-e68847dc4443
Lokasyon	Computer Science
Tarih	2019-08
Notlar	European Union's Horizon 2020 research and innovation program ; JST CREST "Cognitive Mirroring: Assisting people with developmental disorders by means of self-understanding and social sharing of cognitive processes'' ; Bogazici Research Fund (BAP) project IMAGINE-COG++
Örnek Metin	This article proposes a computational model for altruistic behavior, shows its implementation on a physical robot, and presents the results of human-robot interaction experiments conducted with the implemented system. Inspired from the sensorimotor mechanisms of the primate brain, object affordances are utilized for both intention estimation and action execution, in particular, to generate altruistic behavior. At the core of the model is the notion that sensorimotor systems developed for movement generation can be used to process the visual stimuli generated by actions of the others, infer the goals behind, and take the necessary actions to help achieving these goals, potentially leading to the emergence of altruistic behavior. Therefore, we argue that altruistic behavior is not necessarily a consequence of deliberate cognitive processing but may emerge through basic sensorimotor processes such as error minimization, that is, minimizing the difference between the observed and expected outcomes. In the model, affordances also play a key role by constraining the possible set of actions that an observed actor might be engaged in, enabling a fast and accurate intention inference. The model components are implemented on an upper-body humanoid robot. A set of experiments are conducted validating the workings of the components of the model, such as affordance extraction and task execution. Significantly, to assess how human partners interact with our altruistic model deployed robot, extensive experiments with naive subjects are conducted. Our results indicate that the proposed computational model can explain emergent altruistic behavior in reference to its biological counterpart and moreover engage human partners to exploit this behavior when implemented on an anthropomorphic robot.
DOI	10.1177/1059712318824697
Cilt	27

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Affordance-based altruistic robotic architecture for human–robot collaboration

Yazar Imre, M., Öztop, Erhan, Nagai, Y., Ugur, E.

Basım Tarihi 2019-08

Basım Yeri - Sage

Konu Altruistic behavior, Computational modeling, Brain-inspired robotics, Affordances, Human-robot interaction, Goal inference

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1059-7123

Kayıt Numarası 876eca76-29d1-408b-be1a-e68847dc4443

Lokasyon Computer Science

Tarih 2019-08

Notlar European Union's Horizon 2020 research and innovation program ; JST CREST "Cognitive Mirroring: Assisting people with developmental disorders by means of self-understanding and social sharing of cognitive processes'' ; Bogazici Research Fund (BAP) project IMAGINE-COG++

Örnek Metin This article proposes a computational model for altruistic behavior, shows its implementation on a physical robot, and presents the results of human-robot interaction experiments conducted with the implemented system. Inspired from the sensorimotor mechanisms of the primate brain, object affordances are utilized for both intention estimation and action execution, in particular, to generate altruistic behavior. At the core of the model is the notion that sensorimotor systems developed for movement generation can be used to process the visual stimuli generated by actions of the others, infer the goals behind, and take the necessary actions to help achieving these goals, potentially leading to the emergence of altruistic behavior. Therefore, we argue that altruistic behavior is not necessarily a consequence of deliberate cognitive processing but may emerge through basic sensorimotor processes such as error minimization, that is, minimizing the difference between the observed and expected outcomes. In the model, affordances also play a key role by constraining the possible set of actions that an observed actor might be engaged in, enabling a fast and accurate intention inference. The model components are implemented on an upper-body humanoid robot. A set of experiments are conducted validating the workings of the components of the model, such as affordance extraction and task execution. Significantly, to assess how human partners interact with our altruistic model deployed robot, extensive experiments with naive subjects are conducted. Our results indicate that the proposed computational model can explain emergent altruistic behavior in reference to its biological counterpart and moreover engage human partners to exploit this behavior when implemented on an anthropomorphic robot.

DOI 10.1177/1059712318824697

Cilt 27