NORI , Francesco

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This paper is about a layered controller for a complex humanoid robot: namely, the iCub. We exploited a combination of precomputed models and machine learning owing to the principle of balancing the design effort with the complexity of data collection for learning. A first layer uses the iCub sensors to implement impedance control, on top of...

Motor resonance mechanisms are known to affect humans' ability to interact with others, yielding the kind of "mutual understanding" that is the basis of social interaction. However, it remains unclear how the partner's action features combine or compete to promote or prevent motor resonance during interaction. To clarify this point, the present...