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Making Complex Articulated Agents Dance

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Abstract

We discuss the tradeoffs involved in control of complex articulated agents, and present three implemented controllers for a complex task: a physically-based humanoid torso dancing the Macarena. The three controllers are drawn from animation, biological models, and robotics, and illustrate the issues of joint-space vs. Cartesian space task specification and implementation. We evaluate the controllers along several qualitative and quantitative dimensions, considering naturalness of movement and controller flexibility. Finally, we propose a general combination approach to control, aimed at utilizing the strengths of each alternative within a general framework for addressing complex motor control of articulated agents.

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Authors and Affiliations

  1. Computer Science Department, University of Southern California, 941 West 37th Place, SAL 228, MC 0781, Los Angeles, CA, 90089-0781

    Maja J. Matarić

  2. College of Computing, Georgia Institute of Technology, 801 Atlantic Drive, Atlanta, GA, 30332-0280

    Victor B. Zordan

  3. MIT Artificial Intelligence Lab, Massachusetts Institute of Technology, 545 Technology Square, Cambridge, MA, 02139

    Matthew M. Williamson

Authors
  1. Maja J. Matarić
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  2. Victor B. Zordan
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  3. Matthew M. Williamson
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Matarić, M.J., Zordan, V.B. & Williamson, M.M. Making Complex Articulated Agents Dance. Autonomous Agents and Multi-Agent Systems 2, 23–43 (1999). https://doi.org/10.1023/A:1010023022632

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  • DOI: https://doi.org/10.1023/A:1010023022632

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