Designing a movement repertoire for a social agent

Title:Designing a movement repertoire for a social agent
Institute:University of Twente (HMI)
Place:Enschede The Netherlands
Type:Capita selecta and Research Topics
End date:not present
HMI ContactDennis Reidsma


A virtual human or social robot is expected to react to others and the world by selecting an appropriate movement (gesture, locomotion, ...) from a big set of movements it is capable of - this set is called a movement repertoire.

In this project you will be designing a subrepertoire for a certain type of movement of a social agent. This motion repertoire will be embedded in our social agent behavior realizer framework ( ). Using such a subrepertoire, it should be possible to fully generate animation of a certain movement type given movement parameters (like timing, amplitude, direction, target, intensity). You are free to select what movement type you want to model. Examples include head and eye movement for gaze, arm gestures for pointing, walking, etc. Another option is including more physically simulated motion in Elckerlyc, for example a physically modeled spine that automatically deforms with arm movement, a more flexible and stable physical simulation method for balancing (like or physics-based walking.

The movement model used to generate the motion could be based on models from biomechanics or behavior science, or could consist of clever combination and adaptation of recorded motion.

Motion capture could be used as a basis for your motion repertoire, to get some inspiration for a model that can be used to generate the repertoire and as 'ground truth' for evaluation. During this assignment, we may have to arrange access to the motion capture lab at BMT (