Determination of sensory motor coordination parameters for a robot via teleoperation

摘要

This paper proposes a method for the determination of sensory-motor coordination (SMC) parameters through the teleoperation of a humanoid robot designed for human-robot interaction. It is argued that SMC in a complex environment must be acquired rather than programmed. It is demonstrated that the acquisition of SMC parameters through teleoperation during a task can enable a robot to determine the category of the outcome of the task during autonomous operation. The outcome can be determined without the a priori programming by a person of sensory cues. That is, the robot learns its own sensory cues.