CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

Melanie Jouaiti; Patrick Henaff

doi:10.1109/ARSO.2018.8625824

CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

Melanie Jouaiti, Patrick Henaff

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.

Original language	English
Title of host publication	2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)
Publisher	IEEE
Pages	71-76
Number of pages	6
ISBN (Print)	978-1-5386-8038-4
DOIs	https://doi.org/10.1109/ARSO.2018.8625824
Publication status	Published - 29 Sept 2018
Event	2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) - Genova, Italy Duration: 27 Sept 2018 → 29 Sept 2018

Conference

Conference	2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)
Period	27/09/18 → 29/09/18

Keywords

Synchronization
Neurons
Oscillators
Wavelet transforms
Robot sensing systems

Access to Document

10.1109/ARSO.2018.8625824

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8625824

Cite this

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title = "CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions",

abstract = "Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.",

keywords = "Synchronization, Neurons, Oscillators, Wavelet transforms, Robot sensing systems",

author = "Melanie Jouaiti and Patrick Henaff",

year = "2018",

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language = "English",

isbn = "978-1-5386-8038-4",

pages = "71--76",

booktitle = "2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)",

publisher = "IEEE",

note = "2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) ; Conference date: 27-09-2018 Through 29-09-2018",

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TY - GEN

T1 - CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

AU - Jouaiti, Melanie

AU - Henaff, Patrick

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Y1 - 2018/9/29

N2 - Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.

AB - Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.

KW - Synchronization

KW - Neurons

KW - Oscillators

KW - Wavelet transforms

KW - Robot sensing systems

UR - https://ieeexplore.ieee.org/document/8625824/

U2 - 10.1109/ARSO.2018.8625824

DO - 10.1109/ARSO.2018.8625824

M3 - Conference contribution

SN - 978-1-5386-8038-4

SP - 71

EP - 76

BT - 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

PB - IEEE

T2 - 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

Y2 - 27 September 2018 through 29 September 2018

ER -

CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

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Keywords

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