---
abstract: 'In this paper we propose a description language for specifying motions for humanoid robots and for allowing humanoid robots to acquire motor skills. Locomotion greatly increases our ability to interact with our environments, which in turn increases our mental abilities. This principle also applies to humanoid robots. However, there are great difficulties to specify humanoid motions and to represent motor skills, which in most cases require four-dimensional space representations. We propose a representation framework that includes the following attributes: motion description layers, egocentric reference system, progressive quantized refinement, and automatic constraint satisfaction. We also outline strategies for acquiring new motor skills by learning from trial and error, macro approach, and programming. Then, we outline the development of a new humanoid motion description language called Cybele.'
altloc:
- http://www.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS94/Choi.pdf
chapter: ~
commentary: ~
commref: ~
confdates: 'August 10-11, 2002'
conference: 'Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems'
confloc: 'Edinburgh, Scotland'
contact_email: ~
creators_id: []
creators_name:
- family: Choi
given: Ben
honourific: ''
lineage: ''
- family: Chen
given: Yanbing
honourific: ''
lineage: ''
date: 2002
date_type: published
datestamp: 2003-10-04
department: ~
dir: disk0/00/00/25/06
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name:
- family: Prince
given: Christopher G.
honourific: ''
lineage: ''
- family: Demiris
given: Yiannis
honourific: ''
lineage: ''
- family: Marom
given: Yuval
honourific: ''
lineage: ''
- family: Kozima
given: Hideki
honourific: ''
lineage: ''
- family: Balkenius
given: Christian
honourific: ''
lineage: ''
eprint_status: archive
eprintid: 2506
fileinfo: /style/images/fileicons/application_pdf.png;/2506/1/Choi.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: 'motor skills, locomotion, learning, Cybele'
lastmod: 2011-03-11 08:55:03
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: ~
pagerange: 21-24
pubdom: TRUE
publication: ~
publisher: Lund University Cognitive Studies
refereed: TRUE
referencetext: ~
relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:45:16
subjects:
- comp-sci-art-intel
- comp-sci-robot
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: Humanoid Motion Description Language
type: confposter
userid: 3507
volume: 94