Describing movement control at two levels of abstraction
Human Factors Psychology
Event formation and separation in musical sound
Event formation and separation in musical sound
Limit cycle control and its application to the animation of balancing and walking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
The handbook of brain theory and neural networks
A Control Strategy for Terrain Adaptive Bipedal Locomotion
Autonomous Robots
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
Neural excitation, training, and control of biorobotic systems
Neural excitation, training, and control of biorobotic systems
Prediction-driven computational auditory scene analysis
Prediction-driven computational auditory scene analysis
| Hi-index | 0.00 |
Dancing to a rhythm, as humans do, is a complex process, andformulation of its dynamics and control are very difficult. Rhythmicexchange of the support surfaces and stability of the overall systemare not well understood. To produce a dancing movement, simplermovements such as rocking, tapping, and stepping can be combined. Therhythm of dancing is usually driven by a music beat. A method thatextracts beats from a wide variety of music in real time ispresented. Work is being done to couple the extracted rhythm of themusic to a dancing biped. The seven degree of freedom sagittal bipedwith sixteen actuators is controlled to move in a rocking, tapping,and stepping fashion. A pattern generator is described which takes amusical beat and generates oscillations. The oscillations are usedto select a finite sequence of predefined desired states, and todrive the system from the current desired state to the next. Thesenext desired states allow derivation of neural excitation inputs tothe sixteen muscle-like actuators. Simulations show the feasibilityof the control strategy moving the biped from desired state todesired state as it traverses the trajectories of these three simplermovements of rocking, tapping, and stepping. In a final simulation,the three movements of rocking, stepping, and tapping are combined ina three-step up and down dancing movement.