机器人与舞者共演8小时，展现人机表达力的差异
Breathless: An 8-hour Performance Contrasting Human and Robot Expressiveness
- 用正弦波控制机械臂关节模拟劳动动作，结合深度学习捕捉人体姿态
- 实时通过教示模式与力感反馈实现即兴机器人动作，与真人同步演出
- 融合自研软件与多工具协作，完成人机在舞台上的动态对话
本文介绍了一场原创表演中的机器人技术，将舞者Cuan与工业机械臂共同呈现一场持续八小时的舞蹈，时间跨度覆盖美国工作日。为控制机械臂，采用不同幅度、频率和偏移量的正弦运动组合，模拟搅拌、挖掘、堆叠等常见体力劳动动作；更多动作通过基于视频的人体姿态追踪与提取的深度学习技术生成。所有预录动作与现场通过教示模式及关节力感反馈即时生成的即兴动作相结合，并使用定制化Python软件，配合AppleScript、Keynote与Zoom实现在舞台上的实时通信与音乐同步。最终演出突显了人体表现力与机械精准度之间的对比。视频、代码与数据可在项目网站获取：https://sites.google.com/playing.studio/breathless
原文摘要 · Abstract (English)
This paper describes the robot technology behind an original performance that pairs a human dancer (Cuan) with an industrial robot arm for an eight-hour dance that unfolds over the timespan of an American workday. To control the robot arm, we combine a range of sinusoidal motions with varying amplitude, frequency and offset at each joint to evoke human motions common in physical labor such as stirring, digging, and stacking. More motions were developed using deep learning techniques for video-based human-pose tracking and extraction. We combine these pre-recorded motions with improvised robot motions created live by putting the robot into teach-mode and triggering force sensing from the robot joints onstage. All motions are combined with commercial and original music using a custom suite of python software with AppleScript, Keynote, and Zoom to facilitate on-stage communication with the dancer. The resulting performance contrasts the expressivity of the human body with the precision of robot machinery. Video, code and data are available on the project website: https://sites.google.com/playing.studio/breathless
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