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User:Mkouklis(2)/ERATO table

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Table Ⅰ — BEHAVIOR MODULES
Pose and Animation
Expressions Manages transitions between fixed facial expressions and body poses
Gestures Can execute one or more gesture animations in parallel
Idle Motions
Breathing Moves shoulders and torso to simulate breathing when not speaking
Blinking Blinks eyes at a fixed rate with slight random variation
Speech-related
Lip Sync Moves lips to match speech signal
Rhythm Generates emphasis and nodding behaviors in response to the robot’s speech signal
Backchannel Generates nodding behaviors in response to the human’s speech signal
Gaze Control
Gaze
Controller
Uses closed-loop control to manipulate 7 joints to direct the robot’s gaze at a specific direction or point in space
Gaze Avert Adds small offsets to the target gaze direction to simulate natural human gaze variations