Composition of behaviour primitives for entertainment humanoid robots

Author

Salerno, Amos ; Viziano, Fabio ; Mastrogiovanni, Fulvio ; Sgorbissa, Antonio ; Zaccaria, Renato

Author_Institution

Dept. of Comput., Commun. & Syst. Sci., Univ. of Genova, Genova, Italy

fYear

2011

fDate

July 31 2011-Aug. 3 2011

Firstpage

217

Lastpage

222

Abstract

This article introduces a model for representing motion primitives for entertainment humanoid robots using Generalized Hierarchical AND/OR graphs. On the one hand, the goal is to drive robots with scripts, as if they were on a stage. On the other hand, the approach allows for storing a minimum amount of behaviours, thereby reducing on-board memory and computational requirements. Standard ontology-based reasoning mechanisms are used to operate on such a representation, in a fully hierarchical fashion. Experimental validation has been assessed using toy Kondo robots.

Keywords

control engineering computing; entertainment; humanoid robots; inference mechanisms; motion control; ontologies (artificial intelligence); behaviour primitives; entertainment humanoid robot; generalized hierarchical AND/OR graph; motion primitives; on-board memory; ontology-based reasoning mechanism; robot behaviour; toy Kondo robot; Humans; Legged locomotion; Ontologies; Planning; Robot sensing systems; Software;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2011 IEEE

Conference_Location

Atlanta, GA

Print_ISBN

978-1-4577-1571-6

Electronic_ISBN

978-1-4577-1572-3

Type

conf

DOI

10.1109/ROMAN.2011.6005267

Filename

6005267