Title:
Choreography for Marionettes: Imitation, Planning, and Control
Choreography for Marionettes: Imitation, Planning, and Control
Author(s)
Murphey, Todd D.
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
This paper presents a project aimed at the creation
of fully automated marionettes for puppet plays, to be used in
stage plays at the Atlanta Center for Puppetry Arts. In fact,
marionettes are sophisticated and challenging mechanical systems,
and therefore represent good test-beds for many current
issues in robotics, such as systematic modeling of relatively
high degree of freedom systems, semantics of high-level motion
planning and control, and numerical optimization techniques
for motion imitation and generation. This paper presents our
approach to these problems, and highlights how insights from
puppeteers can aid in the creation of a systematic framework
for modeling and control of these complex mechanical systems.
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Date Issued
2007-11
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Text
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Proceedings