A Formal Approach to the Automatic Generation of Ballet Motions
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Abstract
As cyber-physical systems become more prevalent,
specifications for these systems must be formulated in a more
nuanced manner. This paper presents a particular instantiation
of such specification by proposing a framework that endows
robotic motions with a sense of aesthetic style. Drawing inspiration
from classical ballet, poses are cast as discrete states and
movements as the transitions between these states. Thus, a given
movement style is encoded in the availability of transitions at
each state, and the dynamics of a complex physical trajectory
are abstracted as a system which moves between these states.
Using Linear Temporal Logic (LTL), we are able to further
constrain the set of possible sequences through the transition
system and thus prevent it from evolving through a sequence of
states that is physically impossible or aesthetically undesirable.
Our overarching objective is to facilitate subtle degrees of
control over systems as such subtleties are required, more and
more, to interact in a social and aesthetically driven world.
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2011-04
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