A Framework to Describe, Analyze and Generate Interactive Motor Behaviors

Nathanaël Jarrassé*, Themistoklis Charalambous, Etienne Burdet

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

101 Citations (Scopus)


While motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks.

Original languageEnglish
Article numbere49945
JournalPloS one
Issue number11
Publication statusPublished - 30 Nov 2012
MoE publication typeA1 Journal article-refereed


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