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2018


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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

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link (url) DOI [BibTex]

2018


link (url) DOI [BibTex]

2016


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Implications of Action-Oriented Paradigm Shifts in Cognitive Science

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
An action-oriented perspective changes the role of an individual from a passive observer to an actively engaged agent interacting in a closed loop with the world as well as with others. Cognition exists to serve action within a landscape that contains both. This chapter surveys this landscape and addresses the status of the pragmatic turn. Its potential influence on science and the study of cognition are considered (including perception, social cognition, social interaction, sensorimotor entrainment, and language acquisition) and its impact on how neuroscience is studied is also investigated (with the notion that brains do not passively build models, but instead support the guidance of action). A review of its implications in robotics and engineering includes a discussion of the application of enactive control principles to couple action and perception in robotics as well as the conceptualization of system design in a more holistic, less modular manner. Practical applications that can impact the human condition are reviewed (e.g. educational applications, treatment possibilities for developmental and psychopathological disorders, the development of neural prostheses). All of this foreshadows the potential societal implications of the pragmatic turn. The chapter concludes that an action-oriented approach emphasizes a continuum of interaction between technical aspects of cognitive systems and robotics, biology, psychology, the social sciences, and the humanities, where the individual is part of a grounded cultural system.

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The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]

2016


The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]


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Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment

Bohg, J., Kragic, D.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
Since the 1950s, robotics research has sought to build a general-purpose agent capable of autonomous, open-ended interaction with realistic, unconstrained environments. Cognition is perceived to be at the core of this process, yet understanding has been challenged because cognition is referred to differently within and across research areas, and is not clearly defined. The classic robotics approach is decomposition into functional modules which perform planning, reasoning, and problem-solving or provide input to these mechanisms. Although advancements have been made and numerous success stories reported in specific niches, this systems-engineering approach has not succeeded in building such a cognitive agent. The emergence of an action-oriented paradigm offers a new approach: action and perception are no longer separable into functional modules but must be considered in a complete loop. This chapter reviews work on different mechanisms for action- perception learning and discusses the role of embodiment in the design of the underlying representations and learning. It discusses the evaluation of agents and suggests the development of a new embodied Turing Test. Appropriate scenarios need to be devised in addition to current competitions, so that abilities can be tested over long time periods.

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18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]

18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]


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Locally Weighted Regression for Control

Ting, J., Meier, F., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning and Data Mining, pages: 1-14, Springer US, Boston, MA, 2016 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]