Making Complex Articulated Agents Dance

We discuss the tradeo s 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 speci cation and implementation. We evaluate the controllers along several qualitative and quantitative dimensions, considering naturalness of movement and controller exibility. 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. Key words: articulated agent control, motor control, robotics, animation

• Type: Journal
• Year: 1999
• Where: AAMAS
• Authors: Maja J. Mataric, Victor B. Zordan, Matthew M. Williamson
• Keywords: AAMAS 1999, Complex Articulated Agents, Intelligent Agents, Motor Control, Physically-based Humanoid Torso