Dance with HRP-2

with Oscar Ramos, Olivier Stasse, Sovannara Hak and Mitsuharu Morisawa

Event of dispersion by Art. The choreography was proposed by the dancer Tayeb Benamara. The motions where recoreded by the motion capture, then adapted to the robot-HRP2 dynamic, accounting for balance and motor capabilities. The motion is computed has the optimal solution using the distance to the captured motion as a cost function, and the robot dynamics consistency as a top-priority constraint. The transfert from the 20 minutes of motion capture to the robot needed around 1h of computation time, and around 1 month of development for the team, based on the preliminary developments of dynamics retargeting from motion capture to virtual avatar.

The final motion was then scenarized by the dancer Tayeb Benamara, dancing with the robot a teacher/student relashionship, led by the rythms of the DJ EnjeB. The dance was performed three times on the night of October, the 15th, 2011, in front of 1000 persons.

The demonstration was the oportunity to present to the public the know-how of the group for robotics balance, as well as the limits of the technology.

A first video from YouTube (the second part of the video is a artistic event in Toulouse center town, with a beautifull robotic costume, no scientifical link with HRP2 demo). More videos from the cameras of the team will arrive soon

Reference Publications

See also