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

• Main Author: Gielniak, Michael Joseph
• Published: Georgia Institute of Technology 2012
• Subjects: Motor coordination; DOF coupling; Kolmogorov-Sinai entropy; Animation principles; Androids; Robots; Robots Programming; Human-robot interaction; Robots Motion; Algorithms
• Online Access: http://hdl.handle.net/1853/43591

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.