D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
Indicative priority Mandatory
Requirement No. SOIAA7
Name: Measurement of anticipatory information flow between robot and human and vice versa
Description:
Reason / Comments:
Different formalisms for “information flow” are to be used to get a quantitative
measurement indicating the causal dominant partner in the symbiotic human-robot relation.
Indicative priority Mandatory
Requirement No. SOIAA8
Name: Development of framework for transitional dynamics between robot-initiated and humaninitiated
behaviour
Description: The different quantitative outputs of SOIAA8 are to be combined with further data to
construct a regulatory feedback control system that transitions the symbiotic human-robot
relationship into one where the human has maximal causal control.
Reason / Comments: Dependent on SOIAA7
Indicative priority Mandatory
7.6.2.2 Interfaces
Requirement No. SOIAA10
Name: Interactive Model of Robotic System
Description: For such a simulation model UH sees the following options:
� a simulation model is provided by the robotics/human dynamics partners, e.g. if
used in their own work.
This option is highly desirable, even understanding that the model falls short of a fully
accurate simulation of human motion, to capture the essential kinematic and dynamic
properties of the system, as seen by the partners with the robotic/therapeutic expertise.
� if option 1 is not feasible, UH will, as a fall-back option, have to resort to build
such a model on its own. This will necessarily be only a coarse approximation of
the human/robot system due to the lack of relevant system expertise on the side of
UH, but is necessary to ensure practicable progress on the SOIAA architecture
development while the prototype of the CORBYS sensorimotor command loop is
being developed for the hardware robots.
The UH requirements for the simulation model, whether built by the relevant partners
(option 1) or UH (option 2), needs to have the abilities described in the following section. If
it turns out to be necessary to resort to option 2, it would be mandatory for UH to have the
information required to build the simulation model. (see Requirement SOIAA11 and
SOIAA12)
Reason / Comments: To allow a large number of runs under controlled conditions and allowing a flexible
application and test of interventions by the SOIAA component, a simulation model of the
human-robot system is strictly necessary. This model needs to provide an input/output
interface of the sensorimotor command cycle of the model to the SOIAA component in
accordance with the above requirements.
Indicative priority Mandatory
Requirement No. SOIAA11
Name: Functional Dynamics
Description: The simulation system needs to have the following properties:
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