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Computational Choreography

Computational Choreography. Expressive Robot Movement. Affective Motion Planning. Karel Čapek. “R.U.R”. Karel Čapek. Robots and Movement. http://www.youtube.com/watch?v=hII68CseRmo. Expressive Robot Movement. Laban Movement Analysis 1. Laban Movement Analysis. Laban Effort.

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Computational Choreography

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  1. ComputationalChoreography

  2. Expressive Robot Movement

  3. Affective Motion Planning

  4. Karel Čapek

  5. “R.U.R” Karel Čapek

  6. Robots and Movement

  7. http://www.youtube.com/watch?v=hII68CseRmo

  8. Expressive Robot Movement

  9. Laban Movement Analysis1. Laban Movement Analysis

  10. Laban Effort • Space (Direct, Indirect) • Weight (Strong, Light) • Time (Sudden, Sustained) • Flow (Bound, Free)

  11. SAM (Valance and Arousal) “To Increase Valence or Arousal: use space more indirectly, or perform the motion more quickly.To Decrease Valence or Arousal: use space more directly, or perform the motion in a more sustained fashion.” Harris, J., & Sharlin, E. (2011).

  12. 2. Animation

  13. 2. Animation • Squash and stretch • Anticipation • Staging • Straight ahead action and pose to pose • Follow through and overlapping action • Slow in and slow out • Arcs • Secondary action • Timing • Exaggeration • Solid drawing • Appeal

  14. 2. Animation • Arcs • Slow in and Slow Out

  15. Acceleration Easing

  16. 3. Robot Body Language Erden, Mustafa Suphi. "Emotional Postures for the Humanoid-Robot Nao."International Journal of Social Robotics 5.4 (2013): 441-456.

  17. What to Build? • Speed • Amplitude: maximum distance between two points in the trajectory • Acceleration: number accelerations • Deceleration: number of decelerations • Frequency: number of times motion repeats itself in one time frame • Direction: diagonal, horizontal, vertical, or combination • Fluidity: smooth, jerky, or combined • Vertical position: top, center, bottom • Horizontal position: left, center, right • Shape: straight, angular, curvy, or combined • Path self-intersection: number of self-intersections (where the trajectory crosses itself) • Acute directional changes: number of changes where the angle of two path segments is smaller than 90 degrees. • Obtuse directional changes: number of changes where the angle of two path segments is greater than or equal to 90 degrees.

  18. Expressive Robot Movement • Laban Energy Actions • Space (Divergent Waypoints) • Acceleration Trajectories (Trajectory Easing) • Forward / Backward “Leaning”

  19. Expressive Robot Movement

  20. DEMO (ROS)

  21. DEMO (Visual)

  22. Do changing motion planning features have an effect of the perceived emotion?

  23. Protocol • (System computes motion plans for all conditions.) • Intake, Informed Consent, etc • Subject is encouraged to chatter throughout the experiment • Subject watches 30 seconds of industrial robot video and 30 seconds of nature video • System presents, in a random order, a motion plan (25-35s). • Subject uses SAM (valance, arousal) to answer, “how you think the robot is feeling while making the motion, not your own feelings.” • Subject provides an estimate for how many seconds they thought the movement took. • Subject writes down 2-3 keywords about the movements • Video • Semi-structured Interview

  24. Protocol

  25. Protocol x 3 (f, b, n)

  26. n = 1

  27. n = 0

  28. What’s Next? • Complete virtual robot study by Dec 10 • Submit Addendum to IRB to permit offsite study in NYC w/ Baxter • January - IAP Focus • Refine waypoint arc’ing, packaging code & more evaluation • Robot Science and Systems (Jan 30)

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