This thesis addresses the question of how to teach dynamic motor skills to synthetic humanoids. A general approach based on imitation learning is presented and evaluated on a number of synthetic humanoids, as well as a number of different motor skills. The approach allows for intuitive and natural specification of motor skills without the need for expert knowledge. Using this approach we show that various important problems in robotics and computer animation can be tackled, including the synthesis of natural grasping, the synthesis of locomotion behavior or the physical interaction between humans and robots.
| Identifer | oai:union.ndltd.org:DRESDEN/oai:qucosa.de:bsz:105-qucosa-62877 |
| Date | 13 December 2010 |
| Creators | Ben Amor, Heni |
| Contributors | Technische Universität Bergakademie Freiberg, Mathematik und Informatik, Prof. Dr. Bernhard Jung, Prof. Dr. Bernhard Jung, Prof. Dr. Ulrich Furbach |
| Publisher | Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola" |
| Source Sets | Hochschulschriftenserver (HSSS) der SLUB Dresden |
| Language | English |
| Detected Language | English |
| Type | doc-type:doctoralThesis |
| Format | application/pdf |
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