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A Dance Performance Environment in which Performers Dance with Multiple Robotic Balls (AH2016 presentation tsuchida)

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In recent years, as robotics technology progresses, various mobile robots have been developed to dance with humans. However, up until now there have been no system for interactively creating a performance using multiple mobile robots. Therefore, performance using multiple mobile robots is still difficult. In this study, we construct a mechanism by which a performer can interactively create a performance while he/she considers the correspondence between his/her motion and the mobile robots' movement and light. Specifically, we developed a system that enables performers to freely create performances with multiple robotics balls that can move omunidirectionnally and have full color LEDs. Performers can design both the movements of the robotic balls and the colors of the LEDs. To evaluate the effectiveness of the system, we had four performers use the system to create and demonstrate performances. Moreover, we confirmed that the system performed reliably in a real environment.

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A Dance Performance Environment in which Performers Dance with Multiple Robotic Balls (AH2016 presentation tsuchida)

  1. 1. A Dance Performance Environment in which Performers Dance with Multiple Robotic Balls Shuhei Tsuchida†1, Tsutomu Terada†1†2, Masahiko Tsukamoto†1 †1 Kobe University †2 JST PRESTO
  2. 2. Demo Movie (ACE2015 in Malaysia) 2
  3. 3. Tod Machover: Death and the Powers https://www.youtube.com/watch?v=mPp9juefl2Y elevenplay:Dance with Drones https://www.youtube.com/watch?v=HQLORg5COiU In recent years, as robotics technology progresses, various robots have been developed to dance with humans. Background 3
  4. 4. Tod Machover: Death and the Powers https://www.youtube.com/watch?v=mPp9juefl2Y elevenplay:Dance with Drones https://www.youtube.com/watch?v=HQLORg5COiU In recent years, as robotics technology progresses, various robots have been developed to dance with humans. Background 3
  5. 5. Tod Machover: Death and the Powers https://www.youtube.com/watch?v=mPp9juefl2Y elevenplay:Dance with Drones https://www.youtube.com/watch?v=HQLORg5COiU In recent years, as robotics technology progresses, various robots have been developed to dance with humans. Background 3
  6. 6. Tod Machover: Death and the Powers https://www.youtube.com/watch?v=mPp9juefl2Y elevenplay:Dance with Drones https://www.youtube.com/watch?v=HQLORg5COiU In recent years, as robotics technology progresses, various robots have been developed to dance with humans. Background 3 However, it is difficult for the performer to create the performance using the mobile robots.
  7. 7. ①Image Engineer Performer System ③Creating Result Problem 7 ②Input & Output
  8. 8. ①Image Engineer Performer System ③Creating Result Problem 7 Image ②Input & Output
  9. 9. ①Image Engineer Performer System ③Creating Result ②Input & Output Problem 7 Image Creating Result
  10. 10. ①Image Engineer Performer System ③Creating Result ②Input & Output Problem 7 Image Creating Result The performer cannot interactively create a performance using the system.
  11. 11. We construct a mechanism by which a performer can interactively create a performance while he/she considers the correspondence between his/her motion and the mobile robots' movement and light. Purpose 8
  12. 12. General Method Proposed System (1/2) 9 ①Image Engineer Performer System ③Creating Result ②Input & Output Image Creating Result
  13. 13. Proposed System (1/2) 9 General Method ①Image Engineer Performer System ③Creating Result ②Input & Output Image Creating Result
  14. 14. Proposed Method Proposed System (2/2) 10 ①Input & Output System Performer Image Creating Result
  15. 15. ・A performer with no knowledge of programming can create patterns of the movement and light of robotic balls to certain music and choreography by mouse operation. ・A performer can easily confirm the choreography of dancing with robotic balls on a simulator. Simulator Motion Input System Design 11
  16. 16. Size︓ diameter 74 [mm] Weight︓ 168 [g] Maximum speed︓ 2 [m/s] Communication distance︓ max 30 [m] Hardware (1/2) 12
  17. 17. Hardware (2/2) 13 LiPo battery Driving part of Sphero Infrared LED
  18. 18. ABS rein Plastic Hardware (2/2) 13 LiPo battery Driving part of Sphero Infrared LED
  19. 19. 1. Creating movements and lights 2. Confirming on the simulator 3. Saving the pattern 4. Confirming with robotic balls PC Mobile phone Moving pattern Light pattern System Configuration 14
  20. 20. 1. Creating movements and lights 2. Confirming on the simulator 3. Saving the pattern 4. Confirming with robotic balls PC Mobile phone Moving pattern Light pattern System Configuration 14 Application for Creating the Movement and the Light of Robotic Balls Control System for Robotic Balls
  21. 21. 1. Creating movements and lights 2. Confirming on the simulator 3. Saving the pattern 4. Confirming with robotic balls PC Mobile phone Moving pattern Light pattern System Configuration 14 Application for Creating the Movement and the Light of Robotic Balls Control System for Robotic Balls
  22. 22. Application for Creating the Movement and the Light of Robotic Balls 15
  23. 23. 1. Creating movements and lights 2. Confirming on the simulator 3. Saving the pattern 4. Confirming with robotic balls PC Mobile phone Moving pattern Light pattern System Configuration 14 Application for Creating the Movement and the Light of Robotic Balls Control System for Robotic Balls
  24. 24. The user saves the pattern of the moving and light of robotic balls to the mobile phone and PC for control. moving pattern light pattern Control System for Robotic Balls (1/2) 16
  25. 25. moving pattern light pattern infrared Control System for Robotic Balls (1/2) 17 The user performs fitting the moving and the light of robotic balls that synchronize a music.
  26. 26. ・The system cannot detect the position when the dancer was between the camera and the robotic ball. ・The speed of robotic balls is limited. ・It cannot move to draw a curve. System Restriction 18
  27. 27. Survey items ・Performance creation time ・System usability Participant Males 4,Average age 22.3 ・Performer who had been dancing for more than four years. (4/4) ・Performer who had some experience in performance creation using robotic balls. (1/4) 19 Evaluation Experiment (1/3)
  28. 28. Evaluation Experiment (2/3) 20 Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls.
  29. 29. Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Evaluation Experiment (2/3) 20 20-minute explanation ①
  30. 30. Evaluation Experiment (2/3) 20 Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Creating a choreography ② 01m10s
  31. 31. Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Evaluation Experiment (2/3) 20 Confirming a choreography on the simulator ③
  32. 32. Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Evaluation Experiment (2/3) 20 Kinect Projetor Images
  33. 33. Evaluation Experiment (2/3) 20 Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minutes, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Performance ④
  34. 34. Experiment Procedure (1) The participant receives a 20-minute explanation about how to use the application. (2) The participant uses the application to create choreography based on a song about 1 minute, 10 seconds long at 120 BPM. (3) The participant confirms the choreography on the application. (4) The participant carries out a performance using robotic balls. Evaluation Experiment (2/3) 20 Recording Time for creating
  35. 35. ・One B5 paper and a pen were also used when creating the choreography. ・The experimenter received the question about how to operate the application during the experiment. ・The time taken for the experimental procedures 2 and 3 was noted and a 10-minute break was scheduled every hour. At the end of the experiment ・Participants provided feedback on the application. Evaluation Experiment (3/3) 21
  36. 36. Results (1/3) 22
  37. 37. Results of questionnaire ・The application was that its movements were immediately clear at a glance. ・It was hard to determine the sense of distance with the robotic balls while confirming the choreography via simulator display. ・The setting to take color gradient between keyframes made it hard to operate when participant was deciding on the lighting Results (2/3) 23
  38. 38. Participant Performance creation time 1 2hour, 38minutes 2 3hour, 29minutes 3 2hour, 17minutes 4※ 1hour, 4minutes ※Participant 4 has the experience using the system Time taken by participants for performance creation. Results (3/3) 24
  39. 39. Participant Performance creation time 1 2hour, 38minutes 2 3hour, 29minutes 3 2hour, 17minutes 4※ 1hour, 4minutes ※Participant 4 has the experience using the system Time taken by participants for performance creation. Results (3/3) 25 It is then easier to imagine the expression one wants to convey, and the ease of coming up with ways to achieve the expression contributed greatly to reducing the time. Performer who has rich experiences using the system created the performance
  40. 40. Performer System Consideration 26 Image
  41. 41. Consideration 26 Performer System Image Libraries
  42. 42. Automatic Generation Consideration 26 Performer System Image Libraries
  43. 43. Automatic Generation Consideration 26 Various expression libraries will not only reduce the creation time but also widen the range of expression the performer creates. Performer System Image Libraries
  44. 44. We investigated how participants took both their own body expression and that of the robot into consideration to create the performance. →Those who frequently used the movement should be in the library program. Libraries Enclose Link a dancer Emphasis Gather Into the space …. Preview 1 Preview 2 Preview 3 Preview 4 … System Image Evaluation Experiment 27
  45. 45. Participant 1 Participant 2 Participant 3 Participant 4 Evaluation Experiment 28 Memo of the participants
  46. 46. Participant 1 Participant 2 Participant 3 Participant 4 Evaluation experiment 28 Memo of the participants
  47. 47. Participant 1 Participant 2 Participant 3 Participant 4 Evaluation experiment 28 The participants commented on how they considered the movement and the light of the robot each eight beats. Memo of the participants
  48. 48. Ways to show what the performer wants to express: participant 1. Results (1/2) 29
  49. 49. Ways to show what the performer wants to express: participant 1. Results (1/2) 29 We extract and list the ways to show what the performer wants to express on the basis of responses to how the expression was shown.
  50. 50. Results (2/2) 30 ・The extracted expression Enter a space(4 persons), Link a dancer(4) ,Emphasize(4) , Gather(3) ,Make a space(3) , Enclose,Spread, Rotate the entire formation, Move a border. ・The extacted movement Slide,Line up in sequence, Fix a point,One by one action.
  51. 51. Results (2/2) 30 ・The extracted expression Enter a space(4 persons), Link a dancer(4) ,Emphasize(4) , Gather(3) ,Make a space(3) , Enclose,Spread, Rotate the entire formation, Move a border. ・The extacted movement Slide,Line up in sequence, Fix a point,One by one action.
  52. 52. ・The extracted expression Enter a space(4 persons), Link a dancer(4) ,Emphasize(4) , Gather(3) ,Make a space(3) , Enclose,Spread, Rotate the entire formation, Move a border. ・The extacted movement Slide,Line up in sequence, Fix a point,One by one action. Results (2/2) 30
  53. 53. Results (2/2) 30 Our challenge for the future is to create a list of what we wish to express and turn the corresponding robot movement and lighting into a library that can be implemented in such a way that the movements can be previewed on the application. ・The extracted expression Enter a space(4 persons), Link a dancer(4) ,Emphasize(4) , Gather(3) ,Make a space(3) , Enclose,Spread, Rotate the entire formation, Move a border. ・The extacted movement Slide,Line up in sequence, Fix a point,One by one action.
  54. 54. ・We constructed a system by which a performer can interactively create patterns of the movement and light of robotic balls. ・To evaluate the effectiveness of the system, we had four performers use the system to create and demonstrate performances. ・We proposed the method to speed up the creation of performance and to widen the range of expression the performer creates. ・We confirmed that the system performed reliably in real environment. Conclusion 31
  55. 55. Future Work 31
  56. 56. Appendix 57
  57. 57. 58

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