This thesis is part of the interactive humanoid robotic theme of the LORIA Department of Complex Systems and Artificial Intelligence and Robotics (D5). It is part of a more global project aiming at modelling the physical and cognitive phenomena involved in the physical and social interactions between two people in order to reproduce them with a humanoid robot that interacts with a human.
This thesis deals with the phenomena of rhythmicity that emerge from the social interaction between two humans, in order to model the sensorimotor loops and the plastic mechanisms involved in the emergence of the synchronization during these interactions, with the aim of their implementation in a humanoid robot controller. The study of human/robot dynamic coupling and the modeling of physical synchronization locking phenomena is another aspect of the work.
The models proposed for the neuronal robot controller will be based in part on previous works and will integrate rhythmic neurons. The mechanisms of synaptic and neuronal plasticity that are currently studied should allow the learning of sensorimotor loops and thus the emergence of synchrony favoring interaction.
The theoretical work of modelling is based on recent experimental results on the measurement of the physical parameters of the handshake between two persons depending on the social or emotional context. All the work will be carried out in collaboration with the interactive and experimental psychology laboratory (InterPsy) of the University of Lorraine.
The models proposed will be validated experimentally on real robotic demonstrators capable of reproducing these physical interactions: anthropomorphic compliant robotic arms (Kinova-Mico, FRANKA), on the humanoid robot PEPPER.
 Gilles Tagne, Patrick Henaff, Nicolas Gregori (2016), Measurement and Analysis of Physical Parameters of the Handshake Between two Persons According to Simple Social Contexts, proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, october 2016, pp 674-679, DOI: 10.1109/IROS.2016.7759125
 R. Alami, A. Albu-Schaeffer, A. Bicchi, R. Bischoff, R. Chatila, A. D. Luca, A. D. Santis, G. Giralt, J. Guiochet, G. Hirzinger, F. Ingrand, V. Lippiello, R. Mattone, D. Powell, S. Sen, B. Siciliano, G. Tonietti, and L. Villani, « Safe and dependable physical Human-Robot interaction in anthropic domains: State of the art and challenges, » in Procceedings IROS Workshop on pHRI – Physical Human-Robot Interaction in Anthropic Domains, A. Bicchi and A. D. Luca, Eds., Beijing, China, Oct. 2006.
 S. Hasnain, G. Mostafaoui, and P. Gaussier, « A synchrony-based perspective for partner selection and attentional mechanism in human-robot interaction, » vol. 3, no. 3, pp. 156-171, 2012.
 E. Gribovskaya, A. Kheddar, and A. Billard, « Motion learning and adaptive impedance for robot control during physical interaction with humans, » in International Conference on Robotics and Automation (ICRA),. IEEE, May 2011, pp. 4326-4332.
 A.A. Melnyk, M. V. Khomenko, V. Ph. Borysenko, and P. Hénaff, Physical Human-Robot Interaction in the handshaking case: Learning of rhythmicity using oscillators neuron, 2013 IFAC Conference on Manufacturing Modelling, Management, and Control, Russia, pp. 1089 – 1094
 John Nassour, Patrick Hénaff, Fethi Benouezdou, Gordon Cheng (2014), Multi-layered multi- pattern CPG for adaptive locomotion of humanoid robots, Biological Cybernetics, February 2014, pp 19: 1-13, doi: 10.1007/s00422-014-0592-8
 T. Hoinville, C. Tapia, P. Hénaff (2011), Flexible and Stable Pattern Generation by Evolving Constrained Plastic Neurocontrollers, Adaptive Behavior, June 2011, Vol, 19: 187-207
Artem Melnyk, Volodymyr Borysenko and Patrick Henaff, (2014) Analysis of Synchrony of a Handshake Between Humans, in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besançon, France, Juillet 2014, pp.1753 – 1758
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Kinova SDK Wrapper
The Kinova SDK Wrapperis dedicated to a more intuitive programming of the Kinova robots.
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