Making Complex Articulated Agents Dance

  • Maja J. Matarić
  • Victor B. Zordan
  • Matthew M. Williamson


We discuss the tradeoffs involved in control of complex articulated agents, and present three implemented controllers for a complex task: a physically-based humanoid torso dancing the Macarena. The three controllers are drawn from animation, biological models, and robotics, and illustrate the issues of joint-space vs. Cartesian space task specification and implementation. We evaluate the controllers along several qualitative and quantitative dimensions, considering naturalness of movement and controller flexibility. Finally, we propose a general combination approach to control, aimed at utilizing the strengths of each alternative within a general framework for addressing complex motor control of articulated agents.

articulated agent control motor control robotics animation 


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Copyright information

© Kluwer Academic Publishers 1999

Authors and Affiliations

  • Maja J. Matarić
    • 1
  • Victor B. Zordan
    • 2
  • Matthew M. Williamson
    • 3
  1. 1.Computer Science DepartmentUniversity of Southern CaliforniaLos Angeles
  2. 2.College of ComputingGeorgia Institute of TechnologyAtlanta
  3. 3.MIT Artificial Intelligence LabMassachusetts Institute of TechnologyCambridge

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