Humanlike Motion Planning

Abstract — The problem of planning humanlike motions is difficult to define, to model and to solve. It is however a problem that will grow in importance as humanoid assistants and autonomous virtual characters become essential in many applications. In this abstract we propose simple definitions to model basic aspects of the problem and summarize algorithms based on multi-modality and search spaces defined from exam-ple motions. I. INTRODUCTION AND DEFINITIONS Synthesizing whole-body humanoid motions with humanlike characteristics is a challenge. One first difficulty that arises is to define what makes a motion to be humanlike. A simple useful definition is proposed as follows