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Feature-Prescribed Iterative Learning Control of Waggle Dance Movement for Social Motor Coordination in Joint Actions

Bowen Guo, Chao Zhai

TL;DR

An online control architecture of customized virtual player is created to coordinate with human player by integrating position tracking and behavior imitation with prescribed kinematic feature and convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player.

Abstract

Extensive experiments suggest that motor coordination among human participants may contribute to social affinity and emotional attachment, which has great potential in the clinical treatment of social disorders or schizophrenia. Mirror game provides an effective experimental paradigm for studying social motor coordination. Nevertheless, the lack of movement richness prevents the emergence of high-level coordination in the existing one-dimensional experiments. To tackle this problem, this work develops a two-dimensional experimental paradigm of mirror game by playing waggle dance between two participants. In particular, an online control architecture of customized virtual player is created to coordinate with human player. Therein, an iterative learning control algorithm is proposed by integrating position tracking and behavior imitation with prescribed kinematic feature. Moreover, convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player. Finally, the proposed control strategy is validated by matching experimental data and compared with other control methods using a set of performance indexes.

Feature-Prescribed Iterative Learning Control of Waggle Dance Movement for Social Motor Coordination in Joint Actions

TL;DR

An online control architecture of customized virtual player is created to coordinate with human player by integrating position tracking and behavior imitation with prescribed kinematic feature and convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player.

Abstract

Extensive experiments suggest that motor coordination among human participants may contribute to social affinity and emotional attachment, which has great potential in the clinical treatment of social disorders or schizophrenia. Mirror game provides an effective experimental paradigm for studying social motor coordination. Nevertheless, the lack of movement richness prevents the emergence of high-level coordination in the existing one-dimensional experiments. To tackle this problem, this work develops a two-dimensional experimental paradigm of mirror game by playing waggle dance between two participants. In particular, an online control architecture of customized virtual player is created to coordinate with human player. Therein, an iterative learning control algorithm is proposed by integrating position tracking and behavior imitation with prescribed kinematic feature. Moreover, convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player. Finally, the proposed control strategy is validated by matching experimental data and compared with other control methods using a set of performance indexes.
Paper Structure (14 sections, 1 theorem, 27 equations, 10 figures, 1 table, 1 algorithm)

This paper contains 14 sections, 1 theorem, 27 equations, 10 figures, 1 table, 1 algorithm.

Table of Contents

  1. Introduction
  2. Preliminaries
  3. Two-dimensional mirror game
  4. Coordination model for the 2D joint actions
  5. Iterative learning control with prescribed kinematic feature
  6. Control Architecture
  7. Theoretical analysis
  8. Convergence analysis of ILC algorithm
  9. Experimental Validation
  10. Experimental setup
  11. Metrics
  12. Statistical analysis
  13. Comparisons with other control strategies
  14. Conclusions

Key Result

Theorem 4.1

For the control system (ilc-sys) with control input (ilc), the state error between two players is bounded.

Figures (10)

  • Figure 1: HP-HP and HP-VP interactions in the mirror game Zhai18a. The left subfigure shows mirror game between two HPs, while the right one displays mirror game between HP and VP.
  • Figure 2: Schematic diagram on the transition from the 1D mirror game to its 2D version. The blue and green balls are moved by two participants in the mirror game, respectively.
  • Figure 3: Control Architecture of VP in the framework of ILC
  • Figure 4: Left: Participant uses the leap motion device to play a 2D mirror game with VP on the screen. Right: Two participants use leap motion device to play a 2D mirror game in the unity environment.
  • Figure 5: Using HP-HP pair as benchmark to quantify the performance of VP driven by different control strategies.
  • ...and 5 more figures

Theorems & Definitions (3)

  • Theorem 4.1
  • proof
  • Remark 4.1