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.
Composition of behaviour primitives for entertainment humanoid robots
MASTROGIOVANNI, FULVIO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2011-01-01
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.
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