Dynamical Systems:A Framework for Man Mashine Interaction

We present an architecture to gener­ ate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction-channels. Motivated by the research on biological sys­ tems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that gen­ erates human-like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control sys­ tem which is entirely based on dynamical sys­ tems in the form of instantiated dynamics and neural fields. We also present a dynamic scheme for behavioral organization based on competitive dynamics. Keywords— hallo,a;sdj