Humanoid robots are expected to be able to communicate with expressive gestures at the same level of proficiency as humans. However, creating expressive gestures for humanoid robots is difficult and time consuming due to the high number of degrees of freedom (DOF) and the iterations needed to get the desired expressiveness. Current robot motion editing software has varying levels of sophistication of motion editing tools ranging from basic ones that are text-only, to ones that provide graphical

more »

... user interfaces (GUIs) which incorporate advanced features, such as curve editors and inverse kinematics. These tools enable users to create simple motions; but creating 7.