Composition of behaviour primitives for entertainment humanoid robots

This article introduces a model for representing motion primitives for entertainment humanoid robots using Generalized Hierarchical AND/OR graphs. On the one hand, the goal is to drive robots with scripts, as if they were on a stage. On the other hand, the approach allows for storing a minimum amount of behaviours, thereby reducing on-board memory and computational requirements. Standard ontology-based reasoning mechanisms are used to operate on such a representation, in a fully hierarchical fashion. Experimental validation has been assessed using toy Kondo robots.