Research >> ProjectsDemonstrations of Articulated Control
("Adonis dances the Macarena")
Our publications on this topic:
This image, meant to entice you to read the paper, shows some of the arm trajectories for one of the sub-tasks in the macarena, as performed by three different controllers:
This is an earlier conference paper version of the work:
Maja J Mataric, Matthew Williamson, John Demiris, and Aswath Mohan, Behavior-Based Primitives for Articulated Control, Proceedings, Simulation of Adaptive Behavior (SAB '98), Zurich, Switzerland, Aug 17-21, 1998, MIT Press. Click here to view a movie file file of Adonis dancing the Macarena by using a combination of three types of behaviors: 1) move-to-point (by impedance control), 2) get-posture (by joint angle control) and 3) avoid (by applying virtual forces). Click here to view the first part of the Macarena, without the collision avoidance behavior, using only move-to-point and get-posture.
This is another conference paper:
Maja J Mataric, Victor Zordan, and Zach Mason, Movement Control Methods for Complex, Dynamically Simulated Agents: Adonis Dances the Macarena", Proceedings, Autonomous Agents '98, Minneapolis/St. Paul, May 10-13, 1998. In the paper, we demonstrate two controllers for the Macarena, one drawn from animation (torque-based) and the other inspired by neurocsience data (force-field-based). Here are movie files of the two controllers: the torque-based controller and the force-field-based controller. (Note: the shown motion includes improvements made since the paper was written. The total running time has been decreased by 3/5, making this controller's timing closer to that of the torque-based control and human data. These improvements should provide a more insightful comparison of the controller motions.)
This is a workshop paper focusing on motor primitives:
John Demiris and Maja J Mataric, Perceptuo-Motor Primitives in Imitation, Working Notes, Autonomous Agents '98 Workshop on Agents In Interaction - Acquiring Competence Through Imitation, Minneapolis/St. Paul, May 10, 1998.
Collision detection and reaction examples: A movie file of Adonis' hand colliding with his torso, and a hand reacting to the collision with the torso.
A movie file of Adinis' hands colliding with each other and the hands reacting to the collision with each other.
Joint limits examples: Here is a movie file demonstration of Adonis' joint limits, as shown in a stretching-warm up task.
Media: Adonis dancing the Macarena has received quite a bit of media attention. For details, please see our Media Coverage page.
Another figure showing Adonis' 20 degrees of freedom and the constituent building blocks:
This work is supported by the National Science Foundation under Grant No. 9896322.