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--- 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