Abstract
This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is currently formulated. In particular, MDLp is a formal language whose strings, when parsed by a dynamical system (the puppet) produces optimized, hybrid control laws corresponding to strings of motions, locations, and temporal durations for each agent. The paper is concerned with the development of this language as well as with an optimization engine for hybrid optimal control of MDLp strings, and with the generation of motion primitives within the “Imitate, Simplify, Exaggerate” puppetry paradigm.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Arkin, R.C.: Behavior Based Robotics. The MIT Press, Cambridge (1998)
Baird, B.: The Art of the Puppet. Mcmillan Company, New York (1965)
Bicchi, A., Marigo, A., Piccoli, B.: Encoding Steering Control with Symbols. In: IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2003, IEEE, Los Alamitos (2003)
Brockett, R.W.: On the Computer Control of Movement. In: Proceedings of the 1988 IEEE Conference on Robotics and Automation, New York, April 1988, pp. 534–540. IEEE Computer Society Press, Los Alamitos (1988)
Bullo, F., Lewis, A.D.: Geometric Control of Mechanical Systems. Texts in Applied Mathematics, vol. 49. Springer, Heidelberg (2004)
Cassandras, C.G., Lafortune, S.: Introduction to Discrete Event Systems. Kluwer Academic Publishers, Norwell (1999)
Center for Puppetry Arts, http://www.puppet.org/
Egerstedt, M.: Motion Description Languages for Multi-Modal Control in Robotics. In: Bicchi, A., Cristensen, H., Prattichizzo, D. (eds.) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol. 4, pp. 75–90. Springer, Heidelberg (2003)
Egerstedt, M., Martin, C.F.: Conflict Resolution for Autonomous Vehicles: A Case Study in Hierarchical Control Design. International Journal of Hybrid Systems 2(3), 221–234 (2002)
Egerstedt, M., Brockett, R.W.: Feedback Can Reduce the Specification Complexity of Motor Programs. IEEE Transactions on Automatic Control 48(2), 213–223 (2003)
Engler, L., Fijan, C.: Making Puppets Come Alive. Taplinger Publishing Company, New York (1973)
Frazzoli, E.: Explicit Solutions for Optimal Maneuver-Based Motion Planning. In: IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2003, IEEE, Los Alamitos (2003)
Frazzoli, E., Dahleh, M.A., Feron, E.: Maneuver-Based Motion Planning for Nonlinear Systems with Symmetries. IEEE Transactions on Robotics 21(6), 1077–1091 (2005)
Hristu-Varsakelis, D., Egerstedt, M., Krishnaprasad, P.S.: On The Structural Complexity of the Motion Description Language MDLe. In: IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2003, IEEE, Los Alamitos (2003)
Johnson, E., Murphey, T.: Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings. Submitted to ICRA (2007)
Klavins, E.: A language for modeling and programming cooperative control systems. In: Proceedings of the International Conference on Robotics and Automation (2004)
Kloetzer, M., Belta, C.: Hierarchical Abstractions for Robotic Swarms. In: IEEE International Conference on Robotics and Automation, Orlando, FL, IEEE Computer Society Press, Los Alamitos (2006)
Kortenkamp, D., Bonasso, R.P., Murphy, R. (eds.): Artificial Intelligence and Mobile Robots. The MIT Press, Cambridge (1998)
Ludwig, J.: Rainforest adventures, http://www.puppet.org/perform/rainforest.shtml
Manikonda, V., Krishnaprasad, P.S., Hendler, J.: Languages, Behaviors, Hybrid Architectures and Motion Control. In: Willems, J.C., Baillieul, J. (eds.) Mathematical Control Theory, pp. 199–226. Springer, Heidelberg (1998)
Pappas, G.J., Laffierier, G., Sastry, S.: Hierarchically consistent control sytems. IEEE Trans. Automatic Control 45(6), 1144–1160 (2000)
Tabuada, P., Pappas, G.: Linear Time Logic Control of Discrete-Time Linear Systems. Accepted for publication in IEEE Transactions on Automatic Control
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Egerstedt, M., Murphey, T., Ludwig, J. (2007). Motion Programs for Puppet Choreography and Control. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds) Hybrid Systems: Computation and Control. HSCC 2007. Lecture Notes in Computer Science, vol 4416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71493-4_17
Download citation
DOI: https://doi.org/10.1007/978-3-540-71493-4_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-71492-7
Online ISBN: 978-3-540-71493-4
eBook Packages: Computer ScienceComputer Science (R0)