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Laban Movement Analysis and Affective Movement Generation for Robots and Other Near-Living Creatures Springer Tracts in Advanced Robotics 111 Jean-Paul Laumond Naoko Abe Editors Dance Notations and Robot Motion Springer Tracts in Advanced Robotics 111 Editors Prof. Bruno Siciliano Prof. Oussama Khatib Dipartimento di Ingegneria Elettrica Artificial Intelligence Laboratory e Tecnologie dell’Informazione Department of Computer Science Università degli Studi di Napoli Stanford University Federico II Stanford, CA 94305-9010 Via Claudio 21, 80125 Napoli USA Italy E-mail: [email protected] E-mail: [email protected] Editorial Advisory Board Oliver Brock, TU Berlin, Germany Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, ISIR—UPMC & CNRS, France Henrik Christensen, Georgia Tech, USA Peter Corke, Queensland Univ. Technology, Australia Paolo Dario, Scuola S. Anna Pisa, Italy Rüdiger Dillmann, University of Karlsruhe, Germany Ken Goldberg, UC Berkeley, USA John Hollerbach, University of Utah, USA Makoto Kaneko, Osaka University, Japan Lydia Kavraki, Rice University, USA Vijay Kumar, University of Pennsylvania, USA Sukhan Lee, Sungkyunkwan University, Korea Frank Park, Seoul National University, Korea Tim Salcudean, University of British Columbia, Canada Roland Siegwart, ETH Zurich, Switzerland Gaurav Sukhatme, University of Southern California, USA Sebastian Thrun, Stanford University, USA Yangsheng Xu, The Chinese University of Hong Kong, PRC Shin’ichi Yuta, Tsukuba University, Japan More information about this series at http://www.springer.com/series/5208 STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices of EURON (European Robotics Research Network) Jean-Paul Laumond • Naoko Abe Editors Dance Notations and Robot Motion 123 Editors Jean-Paul Laumond Naoko Abe LAAS-CNRS LAAS-CNRS Toulouse Cedex 4 Toulouse Cedex 4 France France ISSN 1610-7438 ISSN 1610-742X (electronic) Springer Tracts in Advanced Robotics ISBN 978-3-319-25737-2 ISBN 978-3-319-25739-6 (eBook) DOI 10.1007/978-3-319-25739-6 Library of Congress Control Number: 2015952769 Springer Cham Heidelberg New York Dordrecht London © Springer International Publishing Switzerland 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer International Publishing AG Switzerland is part of Springer Science+Business Media (www.springer.com) Foreword Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human envi- ronments and vigorously engaged in its new challenges. Interacting, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as biomechanics, haptics, neuro- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dissemination of critical research developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and con- tribute to further advancements in this rapidly growing field. The edited volume by Jean-Paul Laumond and Naoko Abe is focused on human motion analysis within a unique artistic–scientific multidisciplinary context embracing robotics, computer science, neuroscience, dance notation systems, and choreography. The twenty chapter collection originates from the workshop “Dance Notations and Robot Motion” held at LAAS–CNRS in Toulouse in November 2014, ranging from motion computation to segmentation, from robot programming to gestural languages, from behavioral objects to robot interaction, and from abstract symbol manipulation to physical signal processing. The results described in v vi Foreword the volume provide a number of useful tools toward better understanding the computational foundations of anthropomorphic action. Rich of heterogeneous contributions by robotics researchers and dance experts in the field, this volume constitutes a very fine addition to STAR! Naples, Italy Bruno Siciliano August 2015 STAR Editor Preface A motion is perceived by others from its completion into the physical space. At the same time, the same motion originates within the personal body space. Identifying what is happening in the body when a person is moving is not an easy task. Human motion analysis focuses on the relationship between physical space and body space. How to bridge both physical and body spaces? As biomechanists or neuroscientists, roboticists face the same but differently worded question: For roboticists, the physical space is the task space or the operational space in which robot actions are expressed; the body space is the control space or the configuration space according to the considered robotic system. The question is related to robot programming, i.e., to the competition between abstract symbol manipulation and physical signal processing. In the dance field, tools for analyzing and transcribing human movements, i.e., the so-called dance notation systems, have been developed to enhance dancer performance. The main purpose of dance notations is to store choreographic works and knowledge of dance techniques by translating movements into specific ways as abstract symbols, letters, abbreviations, musical notations, stick figures, etc. In Western culture, there are almost 90 dance notation systems, from the first appearance in fifteeenth century to the present. Among the currently used ones, we find the Kinetography Laban, the Benesh Movement Notation, and the Eshkol-Wachman Movement Notation. In this context, it is natural to gather roboticists, computer scientists, neurosci- entists, dance notation system researchers, and choreographers, in order to promote a multidisciplinary research on human motion analysis. This was the objective of the workshop “Dance Notations and Robot Motion” held at LAAS–CNRS in Toulouse in November 2014.1 How an anthropomorphic action is decomposed into a sequence of motions? How an emotional state is reflected in a motion? How to 1The workshop took place in the framework of the Anthropomorphic Motion Factory launched by the European Project ERC-ADG 340050 Actanthrope devoted to exploring the computational foundations of anthropomorphic action. vii viii Preface describe a dance in terms of a sequence of elementary motions? Such questions and many others were the ingredients for stimulating discussions. The first challenge of the meeting was to reach a mutual understanding allowing a choreographer to access robotics concepts, or a computer scientist to understand the subtleties of dance notation. This book intends to keep traces of this unique meeting. It results from the willingness of authors to share their own experiences with others. The reader is then introduced to the basics of dance notations. At the same time, it can delve into chapters reporting dancing robot performances. Computational issues in motion notation are introduced via the dual perspective of both automated motion scoring and dance scoring-based motion generation. Motion segmentation appears as a way to better program robots. Cognitive dimensions are reflected in chapters dealing with gestural languages, behavioral objects, or robot interaction. The reader will recognize the multidisciplinary character of the research through the heterogeneous style of the textbook. We thank all the authors for their effort in making their own research field accessible to others. We thank also the reviewers and the editorial committee (Marion Bastien, Antonio Camurri, Henner Drewes, Kozaburo Hachimura, Dana Kulic, Shelly Saint-Smith, and Gentiane Venture) for their help in editing the book. Toulouse Jean-Paul Laumond July 2015 Naoko Abe Contents Towards Behavioral Objects: A Twofold Approach for a System of Notation to Design and Implement Behaviors in Non-anthropomorphic Robotic Artifacts...................... 1 Samuel Bianchini, Florent Levillain, Armando Menicacci, Emanuele Quinz and Elisabetta Zibetti Laban
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