Making Complex Articulated Agents Dance

Authors:
Maja J. Matarić;Victor Brian Zordan;Matthew M. Williamson
Affiliations:
Computer Science Department, University of Southern California, 941 West 37th Place, SAL 228, MC 0781, Los Angeles, CA 90089-0781 mataric@usc.edu;College of Computing, Georgia Institute of Technology, 801 Atlantic Drive, Atlanta, GA 30332-0280;MIT Artificial Intelligence Lab, Massachusetts Institute of Technology, 545 Technology Square, Cambridge, MA 02139
Venue:
Autonomous Agents and Multi-Agent Systems
Year:
1999

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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.