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Ajo Fod, Maja J. Matarić, Odest Chadwicke Jenkins
2012 Autonomous Robots  
This method is a part of a larger research project aimed at modeling motor control and imitation using the notion of perceptuo-motor primitives, a basis set of coupled perceptual and motor routines.  ...  We used data from a psychophysical experiment on human imitation to derive a set of primitives, and then used those primitives as a basis for superposition and sequencing to reconstruct the original movements  ...  The data used for this analysis were gathered by M. Matarić and M.  ... 
doi:10.1023/a:1013254724861 fatcat:zhfp26zqdnenhg7nszi3iltlrq

Anchoring by Imitation Learning in Conceptual Spaces [chapter]

Antonio Chella, Haris Dindo, Ignazio Infantino
2005 Lecture Notes in Computer Science  
The purpose of the following discussion is to show how the same conceptual representation can be used both in a bottom-up approach, in order to learn sequences of actions by imitation learning paradigm  ...  The system demonstrated the ability to learn and imitate a set of movement primitives acquired through the vision system for simple manipulative purposes.  ...  Perceptuo-motor module in the Subconceptual Area is concerned with both human arm posture reconstruction and mapping between human and robot movements.  ... 
doi:10.1007/11558590_50 fatcat:ezlmujyd75edpbtel5aqnuwulm

The common language of speech perception and action: a neurocognitive perspective

Jean-Luc Schwartz, Marc Sato, Luciano Fadiga
2008 Revue Française de Linguistique Appliquée  
suggest that the motor system might also be crucial for speech comprehension.  ...  The aim of the present chapter is to review these findings in an attempt to define what could be the "common language of perception and action".  ...  Before describing this shift in the next section, and analysing its consequences for the perceptuo-motor debate in the following one, let us mention two points that seem to us quite important in the analysis  ... 
doi:10.3917/rfla.132.0009 fatcat:indpthtsyvht3oeztljdk5amsy

The complementary roles of auditory and motor information evaluated in a Bayesian perceptuo-motor model of speech perception

Raphaël Laurent, Marie-Lou Barnaud, Jean-Luc Schwartz, Pierre Bessière, Julien Diard
2017 Psychological review  
For this aim, since natural articulatory data are sparse, particularly about 905 perceptuo-motor development early in life, we will use synthetic data in the framework of the 906 articulatory model of  ...  syllable experiment.  ...  perfect in a certain sense, 1460 the information content of the auditory and motor branches of a perceptuo-motor speech 1461 processing system are exactly the same.  ... 
doi:10.1037/rev0000069 pmid:28471206 fatcat:jjz6hr2szbakvaoqbt3zcuewrm

Prospection in Cognition: The Case for Joint Episodic-Procedural Memory in Cognitive Robotics

David Vernon, Michael Beetz, Giulio Sandini
2015 Frontiers in Robotics and AI  
Such a framework would be founded on joint perceptuo-motor representations.  ...  In this paper, we examine the case for this form of representation, contrasting sensory-motor theory with ideo-motor theory, and we discuss how such a framework could be realized by joint episodic-procedural  ...  Acknowledgments This work was supported in part by the European Commission, Project 611391 DREAM: Development of Robot-enhanced Therapy for Children with Autism Spectrum Disorders (www.  ... 
doi:10.3389/frobt.2015.00019 fatcat:36afb67ktvgrhlg2xw4dexblqe

Creating the cognitive form of phonological units: The speech sound correspondence problem in infancy could be solved by mirrored vocal interactions rather than by imitation

Piers Messum, Ian S. Howard
2015 Journal of Phonetics  
Howard). 1 We avoid continual use of "he or she", "his or her", etc., by using pronouns which describe interactions between a female caregiver and a male child. 2 In this article we use the following abbreviations  ...  : L1 for 'first language', ME for'mirrored equivalence', SBE for 'similarity based equivalence', AS for 'awareness of sensation', MP for 'meaningful perception', IM for 'inverse model', PM for 'perceptuo-motor  ...  Acknowledgements We are grateful to the two reviewers and to Roslyn Young and Susan Attwood, all of whose perceptive comments and suggestions helped us to improve the manuscript.  ... 
doi:10.1016/j.wocn.2015.08.005 fatcat:vmq3ymkf4rbnbbabwyflyd5cky

Learning human arm movements by imitation:

Aude Billard, Maja J. Matarić
2001 Robotics and Autonomous Systems  
In the experi-  ...  In a more biological approach, Demiris and 81 co-workers [15,16] performed experiments in which a 82 robotic head equipped with a pair of cameras observes 83 and imitates the head movements of a human  ...  This work was supported in part by the National Science Foundation, CAREER Award IRI-9624237 to M.J. Matarić and in part by the Office of Naval Research. A.  ... 
doi:10.1016/s0921-8890(01)00155-5 fatcat:mxbyec4jobhdxlvgfncd2lm5qa

Towards Meaningful Robot Gesture [chapter]

Maha Salem, Stefan Kopp, Ipke Wachsmuth, Frank Joublin
2009 Cognitive Systems Monographs  
Since this research challenge has already been tackled in various ways within the domain of virtual conversational agents, we build upon the experience gained from the development of a speech and gesture  ...  As an underlying action generation architecture, we explain how ACE draws upon a tight, bi-directional coupling of ASIMO's perceptuo-motor system with multi-modal scheduling via both efferent control signals  ...  Acknowledgements The research project "Conceptual Motorics" is based at the Research Institute for Cognition and Robotics, Bielefeld University, Germany.  ... 
doi:10.1007/978-3-642-10403-9_18 fatcat:khyaahs26jewhmxkmpprljzn5u

Learning to Synchronously Imitate Gestures Using Entrainment Effect [chapter]

Eva Ansermin, Ghiles Mostafaoui, Nils Beaussé, Philippe Gaussier
2016 Lecture Notes in Computer Science  
Hence, we present in this paper a neural model for gesture learning by imitation using entrainment effect applied to a NAO robot interacting with a human partner.  ...  In the light of its importance in interaction and wishing to define new HRI, we suggest to model this entrainment to highlight its efficiency for gesture learning during imitative games and for reducing  ...  the basis of a simple algorithm generating explorative and imitative behaviours [2] , Jenkins et al. described an imitation model based on a set of perceptuo-motor primitives.  ... 
doi:10.1007/978-3-319-43488-9_20 fatcat:bgv7zxwqkndt5cv7vxnagizdxa

Modeling the Development of Pronunciation in Infant Speech Acquisition

Ian S. Howard, Piers Messum
2011 Motor Control  
This demonstrates the viability of a non-imitative mechanism in learning to pronounce.  ...  Speech sound qualities, for example, have just been assumed to develop by simple imitation.  ...  We thank Daniel Wolpert for allowing us to use facilities in the Computational and Biological Learning Laboratory, Department of Engineering, University of Cambridge.  ... 
doi:10.1123/mcj.15.1.85 pmid:21339516 fatcat:hpn7qwa3g5fzxao7hty7cpj4yq

A comparison of the effects of rhythm and robotic interventions on repetitive behaviors and affective states of children with Autism Spectrum Disorder (ASD)

Sudha M. Srinivasan, Isabel K. Park, Linda B. Neelly, Anjana N. Bhat
2015 Research in Autism Spectrum Disorders  
of two novel interventions -rhythm and robotic therapies, with those of a standard-of-care intervention, on the repetitive behaviors and affective states of 36 children with ASD between 5 and 12 years using  ...  In terms of repetitive behaviors, in the early session, the rhythm and robot groups engaged in greater negative behaviors, whereas the comparison group engaged in greater sensory behaviors.  ...  Acknowledgements We would like to thank the children and families who participated in this study. We thank Tim Gifford and Christian Wanamaker for their help with programming of Nao robot.  ... 
doi:10.1016/j.rasd.2015.07.004 pmid:26251668 pmcid:PMC4523306 fatcat:c6zav3crbzdarajyuijh4adjx4

The iCub humanoid robot: An open-systems platform for research in cognitive development

Giorgio Metta, Lorenzo Natale, Francesco Nori, Giulio Sandini, David Vernon, Luciano Fadiga, Claes von Hofsten, Kerstin Rosander, Manuel Lopes, José Santos-Victor, Alexandre Bernardino, Luis Montesano
2010 Neural Networks  
This creates the need for a robust humanoid robot that offers rich perceptuo-motor capabilities with many degrees of freedom, a cognitive capacity for learning and development, a software architecture  ...  To date, twenty iCubs each comprising approximately 5000 mechanical and electrical parts have been delivered to several research labs in Europe and to one in the USA.  ...  Experiments have proven the involvement of the motor system in the fine perception of others movements including speech.  ... 
doi:10.1016/j.neunet.2010.08.010 pmid:20864311 fatcat:wluksdtihze2blahmvok6qr3mq

Skill learning and task outcome prediction for manipulation

Peter Pastor, Mrinal Kalakrishnan, Sachin Chitta, Evangelos Theodorou, Stefan Schaal
2011 2011 IEEE International Conference on Robotics and Automation  
In this work, we present a Reinforcement Learning based approach to acquiring new motor skills from demonstration.  ...  In addition, we also present an approach to using sensor feedback to learn a predictive model of the task outcome.  ...  INTRODUCTION As robots move into the real world, they will have to acquire complex perceptuo-motor skills. Skill learning is, in general, a hard task for robots.  ... 
doi:10.1109/icra.2011.5980200 dblp:conf/icra/PastorKCTS11 fatcat:uubtrvucbneq3dwsicckackmg4

Contingency Perception and Agency Measure in Visuo-Motor Spiking Neural Networks

A. Pitti, H. Mori, S. Kouzuma, Y. Kuniyoshi
2009 IEEE Transactions on Autonomous Mental Development  
In a head-neck-eyes robot, we replicate three developmental experiments illustrating how particular perceptual experiences can modulate the overall level of agency inside the system; i.e., 1) by adding  ...  Babies develop early this feeling by perceiving the contingency between afferent (sensor) and efferent (motor) information.  ...  [8] -emphasizing perceptuo-motor integration.  ... 
doi:10.1109/tamd.2009.2021506 fatcat:3nj7tgfeqje33pwavrjsqftchu

Learning to Pronounce First Words in Three Languages: An Investigation of Caregiver and Infant Behavior Using a Computational Model of an Infant

Ian S. Howard, Piers Messum, Johan J. Bolhuis
2014 PLoS ONE  
Thus in a second phase of interaction, he was able to parse input utterances in terms of the caregiver responses he had heard previously, and respond using his associated motor patterns.  ...  In separate interaction experiments, native speakers of English, French and German then played the role of his caregiver.  ...  Author Contributions Conceived and designed the experiments: ISH PM. Performed the experiments: ISH. Analyzed the data: ISH PM. Contributed reagents/ materials/analysis tools: ISH.  ... 
doi:10.1371/journal.pone.0110334 pmid:25333740 pmcid:PMC4204867 fatcat:a2miwrfcubep7h2gyfmt6tzhza
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