Title :
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
fDate :
July 31 2011-Aug. 3 2011
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;
Conference_Titel :
RO-MAN, 2011 IEEE
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4577-1571-6
Electronic_ISBN :
978-1-4577-1572-3
DOI :
10.1109/ROMAN.2011.6005267
