First Advisor

Marek Perkowski

Date of Publication

1-1-2011

Document Type

Thesis

Degree Name

Master of Science (M.S.) in Electrical and Computer Engineering

Department

Electrical and Computer Engineering

Language

English

Subjects

iSobot, Theater, Midi, Androids -- Design and construction, Robots -- Motion, Robots -- Kinematics, Robotics, Entertainment computing

DOI

10.15760/etd.194

Physical Description

1 online resource (x, 198 p.) : col. ill.

Abstract

Most of work on motion of mobile robots is to generate plans for avoiding obstacles or perform some meaningful and useful actions. In modern robot theatres and entertainment robots the motions of the robot are scripted and thus the performance or behavior of the robot is always the same. In this work we want to propose a new approach to robot motion generation. We want our robot to behave more like real people. People do not move in mechanical way like robots. When a human is supposed to execute some motion, these motions are similar to one another but always slightly or not so slightly different. We want to reproduce this property based on the introduced by us new concept of probabilistic regular expression, a method to describe sets of interrelated similar actions instead of single actions. Our goal is not only to create motions for humanoid robots that will look more naturally and less mechanically, but also to program robots that will combine basic movements from certain library in many different and partially random ways. While the basic motions were created ahead of time, their combinations are specified in our new language. Although now our method is only for motions and does not take inputs from sensors into account, in future the language can be extended to input/output sequences, thus the robot will be able to adapt the motion in different ways, to some sets of sequences of input stimuli. The inputs will come from sensors, possibly attached to limbs of controlling humans from whom the patterns of motion will be acquired.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

Comments

Portland State University. Dept. of Electrical and Computer Engineering

Persistent Identifier

http://archives.pdx.edu/ds/psu/7032

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