  Embodiment and subjective experience in human-robot interaction are important
aspects to consider when studying both natural cognition and adaptive robotics
to human environments. Although several researches have focused on nonverbal
communication and collaboration, the study of autonomous physical interaction
has obtained less attention. From the perspective of neurorobotics, we
investigate the relation between intentionality, motor compliance, cognitive
compliance, and behavior emergence. We propose a variational model inspired by
the principles of predictive coding and active inference to study
intentionality and cognitive compliance, and an intermittent control concept
for motor deliberation and compliance based on torque feed-back. Our
experiments with the humanoid Torobo portrait interesting perspectives for the
bio-inspired study of developmental and social processes.
