Adaptation of task-aware, communicative variance for motion control in social humanoid robotic applications

An algorithm for generating communicative, human-like motion for social humanoid robots was developed. Anticipation, exaggeration, and secondary motion were demonstrated as examples of communication. Spatiotemporal correspondence was presented as a metric for human-like motion, and the metric was used to both synthesize and evaluate motion. An algorithm for generating an infinite number of variants from a single exemplar was established to avoid repetitive motion. The algorithm was made task-aware by including the functionality of satisfying constraints. User studies were performed with the algorithm using human participants. Results showed that communicative, human-like motion can be harnessed to direct partner attention and communicate state information. Furthermore, communicative, human-like motion for social robots produced by the algorithm allows humans partners to feel more engaged in the interaction, recognize motion earlier, label intent sooner, and remember interaction details more accurately.

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Georgia Institute of Technology

Year dc:date.issued

2012

Author dc:creator

• Gielniak, Michael Joseph

Advisors dc:contributor.advisor

• Howard, Ayanna M.
• Thomaz, Andrea L.

Committee members dc:contributor.committeemember

• Habetler, Tom
• Liu, C. Karen
• Ting, Lena
• Vela, Patricio

• Motor coordination
• DOF coupling
• Kolmogorov-Sinai entropy
• Animation principles

Handle dc:identifier.uri

http://hdl.handle.net/1853/43591

OAI identifier oai:identifier

oai:repository.gatech.edu:1853/43591