A formalization of motion control specification

Diana Mary Theresa Dadamo, University of Pennsylvania


The development of a database of actions has been severely hindered by the lack of techniques which handle ambiguity and underspecification in the generation of motion. The process of specification per se inherently ambiguous since an action definition may be satisfied by more than one motion and a motion may satisfy more than one action definition. More importantly, a single action definition can not be tested for its accuracy or sufficiency unless incomplete specifications are effectively handled. We need a technique which allows and which effectively retains this ambiguity and underspecification in the entire pipeline of a motion definition: from the determination of user or Task-Level goals to the representation of these goals as well as to their modification. Our approach is to present a schema to represent motion goals and the definition process for the motion. Motion is defined as an equivalence class of resolvents at each stage of an incremental process which adds or modifies goals as directed over a sample space. In this fashion, specification can be stored at any intermediate point of refinement, and retrieved to produce a class of valid motions. The consistency of the schema proves the feasibility of our approach and provides a basis for the analysis and evaluation of the correctness of a motion definition. The importance of this work is that the representation of actions is independent of the current Task-Level planning techniques, object-definition models and simulation methods. This is crucial for the parallel investigation of models of personality, expressiveness and intent necessary for human-like motion. Our work is the first attempt to model the entire motion definition process and to provide a methodology for the explicit handling of a set of actions.

Subject Area

Computer science|Mathematics|Mechanics

Recommended Citation

Dadamo, Diana Mary Theresa, "A formalization of motion control specification" (1990). Dissertations available from ProQuest. AAI9112552.