Dancing Robots: The Control Theory of Communication Through Movement

Baillieul, John; Özcimder, Kayhan

doi:10.1007/978-3-319-03904-6_3

Cited by 6 publications

(11 citation statements)

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“…Moreover, the dance motion primitives for eleven moves are described by a physical operator * (., .) such that its first and second component describes the angle of rotation (π or 2π) and the direction of the rotation (CW or CCW ) of the follower with respect to the initial pose respectively, [3]. Thus, the moves in ILS can be described by physical operator * (., .)…”

Section: Alexander Polynomial Representations Of the Links In Ilsmentioning

confidence: 99%

“…In the earlier work [3], we introduce the link diagram representations that are used to formalize ILS. In this study, we extend those analysis into finding the algebraic representations of the knots in terms of the well known knot invariant Alexander polynomials.…”

Section: Fundementals Of Knot Theorymentioning

confidence: 99%

“…In [3], the definition of Intermediate Level Salsa (ILS) is given which includes eleven dance moves {A, B, C, . .…”

Section: Alexander Polynomial Representations Of the Links In Ilsmentioning

confidence: 99%

“…We proposed complexity metrics based on the energy consumption and the sequence entropy as a metric in order to measure the letter diversity in a dance sequence. In [3], we reported some of our recent work that continues the investigation by extending the size of the alphabet to eleven moves (Intermediate Level Salsa ILS) in which the leader is restricted to keep hand contact with the follower and the constraints on the dance move transitions are described by simple rules suggested by topological knot theory. It is concluded that the arm and body positions restrict the leader for executing certain phrases in dance.…”

Section: Introductionmentioning

confidence: 99%

“…In [3], the final and end poses in a move are represented by two component links. The physical motions applied by the dancers are examined in terms of the link invariants and the allowable move transitions are shown with respect to the link equivalences.…”

Section: Introductionmentioning

confidence: 99%

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Communication through motion in dance with topological constraints

Özcimder

2014

2014 American Control Conference

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This paper summarizes work that investigates human interactions in terms of communication through motion in cooperative control. We are interested in multi-agent distributed control models with a shared goal and with the agents being required to accomplish secondary objectives. The study presented here extends the earlier work on the analysis of leader-follower interactions in salsa. The move transitions in salsa are described by simple rules suggested by topological knot theory. The initial and final poses of each move in the dance are represented by link diagrams. The link invariant Alexander Polynomial is calculated for classified link diagrams so that the physical motion primitives in dance are described as polynomial function manipulations. The size of the alphabet for the dance moves given in earlier work is extended by introducing three new moves. The leaders' decision process in a transition system is discussed and it is compared with the prior models which had fewer moves. Complexity metrics are proposed to capture the new alphabet and the proficiency hierarchy in the dance.

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Section: Alexander Polynomial Representations Of the Links In Ilsmentioning

confidence: 99%

Section: Fundementals Of Knot Theorymentioning

confidence: 99%

“…In [3], the definition of Intermediate Level Salsa (ILS) is given which includes eleven dance moves {A, B, C, . .…”

Section: Alexander Polynomial Representations Of the Links In Ilsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%