Machine Performers: Agents in a Multiple Ontological State

In this thesis, the author explores and develops new attributes for machine performers and merges the trans-disciplinary fields of the performing arts and artificial intelligence. The main aim is to redefine the term “embodiment” for robots on the stage and to demonstrate that this term requires broadening in various fields of research. This redefining has required a multifaceted theoretical analysis of embodiment in the field of artificial intelligence (e.g. the uncanny valley), as well as the construction of new robots for the stage by the author. It is hoped that these practical experimental examples will generate more research by others in similar fields. Even though the historical lineage of robotics is engraved with theatrical strategies and dramaturgy, further application of constructive principles from the performing arts and evidence from psychology and neurology can shift the perception of robotic agents both on stage and in other cultural environments. In this light, the relation between representation, movement and behaviour of bodies has been further explored to establish links between constructed bodies (as in artificial intelligence) and perceived bodies (as performers on the theatrical stage). In the course of this research, several practical works have been designed and built, and subsequently presented to live audiences and research communities. Audience reactions have been analysed with surveys and discussions. Interviews have also been conducted with choreographers, curators and scientists about the value of machine performers. The main conclusions from this study are that fakery and mystification can be used as persuasive elements to enhance agency. Morphologies can also be applied that tightly couple brain and sensorimotor actions and lead to a stronger stage presence. In fact, if this lack of presence is left out of human replicants, it causes an “uncanny” lack of agency. Furthermore, the addition of stage presence leads to stronger identification from audiences, even for bodies dissimilar to their own. The author demonstrates that audience reactions are enhanced by building these effects into machine body structures: rather than identification through mimicry, this causes them to have more unambiguously biological associations. Alongside these traits, atmospheres such as those created by a cast of machine performers tend to cause even more intensely visceral responses. In this thesis, “embodiment” has emerged as a paradigm shift – as well as within this shift – and morphological computing has been explored as a method to deepen this visceral immersion. Therefore, this dissertation considers and builds machine performers as “true” performers for the stage, rather than mere objects with an aura. Their singular and customized embodiment can enable the development of non-anthropocentric performances that encompass the abstract and conceptual patterns in motion and generate – as from human performers – empathy, identification and experiential reactions in live audiences

Curved Path Human Locomotion That Handles Anthropometrical Variety

Human locomotion simulation along a curved path is presented. The process adds a small constant cost (O(1)) to any pre-existing straight line walking algorithm. The input curve is processed by the foot print generator to produce a foot print sequence. The resulting sequence is scanned by the walking motion generator that actually generates the poses of the walking that realizes such foot prints. The two primitives INITIALIZE_STEP and ADVANCE_STEP are used for walking motion generation. INITIALIZE_STEP is activated with the input parameters walker, next_foot_print, left_or_right, and step_duration, just before each step to precompute the trajectories of the center of the body and the ankles. ADVANCE_STEP is called with a normalized time to generate the actual pose at that moment. The normalized time is a logical time, covering zero to one during a complete step

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

The computer synthesis of expressive three-dimensional facial character animation.

This present research is concerned with the design, development and implementation of three-dimensional computer-generated facial images capable of expression gesture and speech. A review of previous work in chapter one shows that to date the model of computer-generated faces has been one in which construction and animation were not separated and which therefore possessed only a limited expressive range. It is argued in chapter two that the physical description of the face cannot be seen as originating from a single generic mould. Chapter three therefore describes data acquisition techniques employed in the computer generation of free-form surfaces which are applicable to three-dimensional faces. Expressions are the result of the distortion of the surface of the skin by the complex interactions of bone, muscle and skin. Chapter four demonstrates with static images and short animation sequences in video that a muscle model process algorithm can simulate the primary characteristics of the facial muscles. Three-dimensional speech synchronization was the most complex problem to achieve effectively. Chapter five describes two successful approaches: the direct mapping of mouth shapes in two dimensions to the model in three dimensions, and geometric distortions of the mouth created by the contraction of specified muscle combinations. Chapter six describes the implementation of software for this research and argues the case for a parametric approach. Chapter seven is concerned with the control of facial articulations and discusses a more biological approach to these. Finally chapter eight draws conclusions from the present research and suggests further extensions

Interactive Behaviors for Bipedal Articulated Figures

We describe techniques for interactively controlling bipedal articulated figures through kinematic constraints. These constraints model certain behavioral tendencies which capture some of the characteristics of human-like movement, and give us control over such elements as the figures\u27 balance and stability. They operate in near real-time, so provide behavioral control for interactive manipulation. These constraints form the basis of an interactive motion-generation system that allows the active movement elements to be layered on top of the passive behavioral constraints

Locomotion of jointed figures over complex terrain

Thesis (M.S.V.S.)--Massachusetts Institute of Technology, Dept. of Architecture, 1987.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ROTCH.Bibliography: leaves 104-111.by Karl Sims.M.S.V.S