Style based robotic motion

Amy Laviers, Magnus Egerstedt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present an approach to motion sequencing and generation in which style of motion is taken into account in a systematic manner. In particular, we present a method for injecting so-called dynamic efforts into a discrete motion sequencing framework that utilizes existing theory of stylistic human movement to inform a principled approach to generating trajectories. Namely, choosing weights in a linear-quadratic cost function leads to trajectories corresponding to the eight basic effort qualities found in dance theory; each weight scales a different motion factor that describes an element of style perceived by an audience. Combined with a stylesensitive motion sequencing scheme, we can fully describe stylistic system behavior. Thus, this paper also reports on the application of this general framework to the problem of generating motion sequences for a humanoid robot that exhibit distinctly different stylistic behaviors though they are composed from the same underlying building blocks.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
Pages4327-4332
Number of pages6
StatePublished - Nov 26 2012
Externally publishedYes
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period6/27/126/29/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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