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Rhythmic Timing in Playful Human-Robot Social Motor Coordination

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Social Robotics (ICSR 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9979))

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Abstract

Future robots for everyday human environments will need to be capable of physical collaboration and play. We previously designed a robotic system for constant-tempo human-robot hand-clapping games. Since rhythmic timing is crucial in such interactions, we sought to endow our robot with the ability to speed up and slow down to match the human partner’s changing tempo. We tackled this goal by observing human-human entrainment, modeling human synchronization behaviors, and piloting three adaptive tempo behaviors on a Rethink Robotics Baxter Research Robot. The pilot study indicated that a fading memory difference learning timing model may perform best in future human-robot gameplay. We will use the findings of this study to improve our hand-clapping robotic system.

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Acknowledgments

The first author was supported by a National Science Foundation (NSF) Graduate Research Fellowship under Grant No. DGE-0822 and the University of Pennsylvania’s NSF Integrative Graduate Education and Research Traineeship under Grant No. 0966142. We thank Kostas Daniilidis for the use of his Baxter robot and Saul Sternberg for his insights on related synchronization research.

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Authors and Affiliations

  1. Haptics Group, GRASP Laboratory, Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, 19104, USA

    Naomi T. Fitter, Dylan T. Hawkes & Katherine J. Kuchenbecker

Authors
  1. Naomi T. Fitter
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  2. Dylan T. Hawkes
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  3. Katherine J. Kuchenbecker
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Corresponding author

Correspondence to Naomi T. Fitter .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, The University of Kansas, Lawrence, Indiana, USA

    Arvin Agah

  2. Department of Mechanical Engineering, Qatar University, Doha, Qatar

    John-John Cabibihan

  3. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA

    Ayanna M. Howard

  4. Department of Systems Engineering and Automation, University Carlos III de Madrid, madrid, Spain

    Miguel A. Salichs

  5. Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, Tennessee, USA

    Hongsheng He

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Fitter, N.T., Hawkes, D.T., Kuchenbecker, K.J. (2016). Rhythmic Timing in Playful Human-Robot Social Motor Coordination. In: Agah, A., Cabibihan, JJ., Howard, A., Salichs, M., He, H. (eds) Social Robotics. ICSR 2016. Lecture Notes in Computer Science(), vol 9979. Springer, Cham. https://doi.org/10.1007/978-3-319-47437-3_29

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  • DOI: https://doi.org/10.1007/978-3-319-47437-3_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47436-6

  • Online ISBN: 978-3-319-47437-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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