Joint attention between a humanoid robot and users in imitation game

Abstract

This paper studies a synthetic model for joint attentions and turn taking by conducting experiments of robot-user imitative interactions. A Sony humanoid robot learns multiple cyclic movement patterns as embedded in a neural network model proposed by us and each of memorized movement patterns can be retrieved and generated by means of entrainment by external inputs in terms of users ’ movement patterns perceived. Our experiments on a simple imitation game showed that multiple movement patterns are generated as synchronized between the robot and users while the shared patterns shift spontaneously from one to another. Based on the experimental results, we show possible dynamical systems accounts for the underlying mechanisms for joint attentions and turn taking.