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Enhancing Expressive Robot Movement Through Computational Choreography and Affective Motion Planning

This project explores the intersection of expressive robot movement, computational choreography, and affective motion planning to enhance the emotive capabilities of robots. Utilizing concepts from Laban Movement Analysis and animation principles, the study investigates how varying motion parameters impact perceived emotions in robot movements. Through a structured protocol involving motion plan presentations and participant feedback, the study aims to understand the relationship between motion features and emotional interpretation. The ultimate goal is to refine robot movement design for enhanced expressiveness and engagement. Future plans include completing a virtual robot study, expanding to offsite research locations, and further refining motion planning techniques for robot systems.

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Enhancing Expressive Robot Movement Through Computational Choreography and Affective Motion Planning

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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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