Verbs and Adverbs as the Basis for Motion Generation in Humanoid Robots
Spratley, Albert William
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2006-08-04
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.