Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact

Shuhei Ikemoto; Heni Ben Amor; Takashi Minato; Hiroshi Ishiguro; Bernhard Jung

doi:10.1109/ROMAN.2009.5326164

Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact

Shuhei Ikemoto, Heni Ben Amor, Takashi Minato, Hiroshi Ishiguro, Bernhard Jung

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

12 Scopus citations

Abstract

In order for humans and robots to engage in direct physical interaction several requirements have to be met. Among others, robots need to be able to adapt their behavior in order to facilitate the interaction with a human partner. This can be achieved using machine learning techniques. However, most machine learning scenarios to-date do not address the question of how learning can be achieved for tightly coupled, physical touch interactions between the learning agent and a human partner. This paper presents an example for such human in-the-loop learning scenarios and proposes a computationally cheap learning algorithm for this purpose. The efficiency of this method is evaluated in an experiment, where human care givers help an android robot to stand up.

Original language	English (US)
Title of host publication	RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive
Pages	504-509
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2009.5326164
State	Published - 2009
Externally published	Yes
Event	18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009 - Toyama, Japan Duration: Sep 27 2009 → Oct 2 2009

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other	18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
Country/Territory	Japan
City	Toyama
Period	9/27/09 → 10/2/09

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROMAN.2009.5326164

Cite this

Ikemoto, S., Amor, H. B., Minato, T., Ishiguro, H., & Jung, B. (2009). Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact. In RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive (pp. 504-509). Article 5326164 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2009.5326164

Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact. / Ikemoto, Shuhei; Amor, Heni Ben; Minato, Takashi et al.
RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive. 2009. p. 504-509 5326164 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

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

Ikemoto, S, Amor, HB, Minato, T, Ishiguro, H & Jung, B 2009, Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact. in RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive., 5326164, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 504-509, 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009, Toyama, Japan, 9/27/09. https://doi.org/10.1109/ROMAN.2009.5326164

Ikemoto S, Amor HB, Minato T, Ishiguro H, Jung B. Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact. In RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive. 2009. p. 504-509. 5326164. (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). doi: 10.1109/ROMAN.2009.5326164

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Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact

Abstract

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