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

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dc.contributor.advisor Howard, Ayanna M.
dc.contributor.advisor Thomaz, Andrea L.
dc.contributor.author Gielniak, Michael Joseph en_US
dc.contributor.committeeMember Habetler, Tom
dc.contributor.committeeMember Liu, C. Karen
dc.contributor.committeeMember Ting, Lena
dc.contributor.committeeMember Vela, Patricio
dc.contributor.department Electrical and Computer Engineering en_US
dc.date.accessioned 2012-06-06T16:42:55Z
dc.date.available 2012-06-06T16:42:55Z
dc.date.issued 2012-01-17 en_US
dc.description.abstract 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. en_US
dc.description.degree PhD en_US
dc.identifier.uri http://hdl.handle.net/1853/43591
dc.publisher Georgia Institute of Technology en_US
dc.subject Motor coordination en_US
dc.subject DOF coupling en_US
dc.subject Kolmogorov-Sinai entropy en_US
dc.subject Animation principles en_US
dc.subject.lcsh Androids
dc.subject.lcsh Robots
dc.subject.lcsh Robots Programming
dc.subject.lcsh Human-robot interaction
dc.subject.lcsh Robots Motion
dc.subject.lcsh Algorithms
dc.title Adaptation of task-aware, communicative variance for motion control in social humanoid robotic applications en_US
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Howard, Ayanna M.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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