<XML><RECORDS><RECORD><REFERENCE_TYPE>3</REFERENCE_TYPE><REFNUM>7363</REFNUM><AUTHORS><AUTHOR>Hale,J.G.</AUTHOR><AUTHOR>Pollick,F.E.</AUTHOR></AUTHORS><YEAR>2000</YEAR><TITLE>Playing 'Sticky Hands' With A Humanoid Robot</TITLE><PLACE_PUBLISHED>First IEEE-RAS International Conference on Humanoid Robots (Humanoids 2000) </PLACE_PUBLISHED><PUBLISHER>IEEE</PUBLISHER><LABEL>Hale:2000:7363</LABEL><ABSTRACT>Sticky Hands is an exercise for two participants requiring them to maintain a gentle hand to hand contact. The intention is to explore graceful and relaxed motion together, develop physical sensitivity and responsiveness, and interact at a comfortably intimate level for physical relaxation and spiritual development. We present a system allowing a person to perform this novel interaction with a humanoid robot. A learning algorithm is presented which observes and predicts the trajectory of the contact point, using a novel internal representation of instantaneously sampled data prototypes . It is capable of generalizing observed trajectories to unseen cases, operating with parameterized time and memory bounds, and coping with the evolving nature of contact trajectories. We thus present a new role for the robot as a playmate for self-development, and hope to facilitate comfortable physical interaction and encourage its perception as a human-like and emotional being. We discuss augmentation of the robot' s motion with human-like style and emotional expression, based on perceptual psychology, human motor production, and computer graphics -fields whose relevance for robotics is also discussed. </ABSTRACT></RECORD></RECORDS></XML>