Making Complex Articulated Agents Dance

被引：24

作者：

Maja J. Matarić

Victor B. Zordan

Matthew M. Williamson

机构：

[1] University of Southern California,Computer Science Department

[2] Georgia Institute of Technology,College of Computing

[3] Massachusetts Institute of Technology,MIT Artificial Intelligence Lab

来源：

Autonomous Agents and Multi-Agent Systems | 1999年 / 2卷 / 1期

关键词：

articulated agent control; motor control; robotics; animation;

D O I：

10.1023/A:1010023022632

中图分类号：

学科分类号：

摘要：

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.

引用

页码：23 / 43

页数：20

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