Type of Document |
Master's Thesis |
Author |
Spratley, Albert William
|
URN |
etd-08032006-174641 |
Title |
Verbs and Adverbs as the Basis for Motion Generation in Humanoid Robots |
Degree |
Master of Science |
Department |
Electrical Engineering |
Advisory Committee |
Advisor Name |
Title |
Kazuhiko Kawamura |
Committee Chair |
Mitch Wilkes |
Committee Member |
|
Keywords |
- Long-Term Memory
- Motion Primitives
- Behaviors
- non-linear interpolation
- Robot
- Humanoid
- CIS
- Cognitive Robotics
- ISAC
- IMA
- Verbs and Adverbs
- Short-Term Memory
- Working Memory
- Central Executive
- Androids--Design and construction.
|
Date of Defense |
2006-07-20 |
Availability |
unrestricted |
Abstract
This thesis examines the suitability of the Verbs and Adverbs algorithm in the context of motion generation for humanoid robotic systems. The Verbs and Adverbs algorithm is a non-linear interpolation algorithm originally designed as a method for generating realistic motions in real-time for computer-animated figures. In this algorithm, Verbs represent a behavior and are parameterized by Adverbs. Motion examples are encoded as a matrix of linear and non-linear coefficients in adverb space. The suitability of the algorithm, in this context, is defined in terms of the ability to integrate this algorithm into a humanoid robotic system as well as the ability of the algorithm to rapidly generate new motions for playback on that platform.
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Files |
Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds) |
28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
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spratley_thesis.pdf |
3.16 Mb |
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