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A Short Introduction to Sensorimotor Perception in Robotics. A new approach to perception in Robotics, whose originality is to be redesigned in an exclusively sensorimotor framework, is presented in this paper. Such an approach is receiving increasing interest within the research community from various disciplines, such as physics, mathematics, cognitive sciences and computational neuroscience. In this context, Robotics might constitute a particularly well-suited experimental testbed and an ideal framework to hatch new ideas about one of the most amazing − and yet very mysterious − faculties of animals and humans. This paper focuses first on the works by Poincaré on the perception of space geometry (and more specifically on its dimension) by sensorimotor means. Current works directly inspired from them are also highlighted. Then, other contributions trying to extend these ideas to the sensorimotor representation of space are introduced. The question of the body representation, and the way the motivation problematic can be formalized in this sensorimotor context, are both partially addressed. This short introduction has been made with the hope to constitute a good opening to the current understanding of the perception sensorimotor framework., Nous présentons dans cet article une approche de la perception en robotique dont l’originalité est d’être repensée dans un cadre exclusivement sensorimoteur. Cette démarche suscite un intérêt croissant au sein de la communauté de recherche, au carrefour de disciplines variées comme la physique, les mathématiques, les sciences cognitives et les neurosciences computationnelles. De fait la robotique apporte un terrain expérimental particulièrement approprié, un cadre de pensée idéal à l’éclosion de nouvelles idées, voire de découvertes sur l’une des facultés les plus étonnantes et encore très mystérieuse de l’animal et de l’homme. Nous présentons pour commencer les travaux de Poincaré sur la perception sensorimotrice de la géométrie de l’espace, en particulier sa dimension, puis un certain nombre de travaux actuels qui en sont directement inspirés. Nous présentons ensuite des recherches qui visent à étendre ces idées à la représentation sensorimotrice de l’espace. La question de la représentation du corps y est également abordée. Nous terminons par la question de la formulation des motivations dans un cadre sensorimoteur. L’ensemble de ces travaux constitue, nous l’espérons, une bonne porte d’entrée dans la compréhension de la vision «sensorimotrice » de la perception., Gas Bruno, Argentieri Sylvain. Une brève introduction à la perception sensori-motrice en robotique. In: Intellectica. Revue de l'Association pour la Recherche Cognitive, n°65, 2016/1. Nouvelles approches en Robotique Cognitive. pp. 27-61.

Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of spatio-temporally invariant structures in the sensorimotor experience of an agent. We take inspiration from the Sensorimotor Contingencies Theory to define a computational model of this mechanism through a sensorimotor, unsupervised and predictive approach. Our model is based on processing the unsupervised interaction of an artificial agent with its environment. We show how spatio-temporally invariant structures in the environment induce regularities in the sensorimotor experience of an agent, and how this agent, while building a predictive model of its sensorimotor experience, can capture them as densely connected subgraphs in a graph of sensory states connected by motor commands. Our approach is focused on elementary mechanisms, and is illustrated with a set of simple experiments in which an agent interacts with an environment. We show how the agent can build an internal model of moving but spatio-temporally invariant structures by performing a Spectral Clustering of the graph modeling its overall sensorimotor experiences. We systematically examine properties of the model, shedding light more globally on the specificities of the paradigm with respect to methods based on the supervised processing of collections of static images., 24 pages, 10 figures, published in Frontiers Robotics and AI

When two individuals interact in a collaborative task, such as carrying a sofa or a table, usually spatiotemporal coordination of individual motor behavior will emerge. In many cases, interpersonal coordination can arise independently of verbal communication, based on the observation of the partners' movements and/or the object's movements. In this study, we investigate how social coupling between two individuals can emerge in a collaborative task under different modes of perceptual information. A visual reference condition was compared with three different conditions with new types of additional auditory feedback provided in real time: effect-based auditory feedback, performance-based auditory feedback, and combined effect/performance-based auditory feedback. We have developed a new paradigm in which the actions of both participants continuously result in a seamlessly merged effect on an object simulated by a tablet computer application. Here, participants should temporally synchronize their movements with a 90° phase difference and precisely adjust the finger dynamics in order to keep the object (a ball) accurately rotating on a given circular trajectory on the tablet. Results demonstrate that interpersonal coordination in a joint task can be altered by different kinds of additional auditory information in various ways.

When two individuals interact in a collaborative task, such as carrying a sofa or a table, usually spatiotemporal coordination of individual motor behavior will emerge. In many cases, interpersonal coordination can arise independently of verbal communication, based on the observation of the partners' movements and/or the object's movements. In this study, we investigate how social coupling between two individuals can emerge in a collaborative task under different modes of perceptual information. A visual reference condition was compared with three different conditions with new types of additional auditory feedback provided in real time: effect-based auditory feedback, performance-based auditory feedback, and combined effect/performance-based auditory feedback. We have developed a new paradigm in which the actions of both participants continuously result in a seamlessly merged effect on an object simulated by a tablet computer application. Here, participants should temporally synchronize their movements with a 90° phase difference and precisely adjust the finger dynamics in order to keep the object (a ball) accurately rotating on a given circular trajectory on the tablet. Results demonstrate that interpersonal coordination in a joint task can be altered by different kinds of additional auditory information in various ways.