| 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 |
| |
spratley_thesis.pdf |
3.16 Mb |
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00:07:32 |
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