抄録
Action imitation, cooperation and communication share the same problem structure where two indepedent autonomous interaction dynamics should be coupled without destruction. We propose that this can be achieved by coupling via the “points of behavior articulation”. They play an important role both in action recognition and action exectution. Information extracted around the articulation points are invariant against perturbation and environmental fluctuations. Motion control applied at articulation points can achieve robust goal achievements while exploiting natural dynamics and tolerating fluctuations due to environmental conditions. The constraints which give rise to the articulation are largely dependent upon the body structure and dynamics. Maybe that is why humans share common articulation. Early experiments with a neural architecture for acquisition of the articulation structures are also presented.
