基于碰撞器的运动检测和可穿戴软机器人的控制,用于视觉增强舞蹈表演
Patrick Twomey1, Vaibhavsingh Varma1, Leslie L Bush2
1Department of Mechanical Engineering, Henry M. Rowan College of Engineering, Rowan University, Glassboro, NJ, United States.
Frontiers in robotics and AI
|December 16, 2024
概括
一个基于碰撞器的新算法准确地跟踪即兴舞蹈动作,使可穿戴软机器人能够动态地响应. 这项技术通过将自发运动与交互式舞台效果相结合来增强艺术表达.
科学领域:
- 机器人和人机交互的人机交互
- 表演艺术技术技术 表演艺术技术
- 生物机械运动分析
背景情况:
- 即兴舞蹈由于不可预测的,不重复的动作,提出了独特的运动跟踪挑战.
- 现有的方法,如光学跟踪 (四肢阻塞) 和惯性测量单元 (复杂的算法,固定的值) 有局限性.
- 机器学习通常不适合即兴舞蹈,因为独特的训练数据有限.
研究的目的:
- 为即兴舞蹈开发一种可适应和强大的运动跟踪算法.
- 为了实现基于舞者运动的可穿戴软机器人执行器的实时控制.
- 通过技术整合,增强舞蹈的表达潜力.
主要方法:
- 引入基于碰撞机的运动检测算法,将碰撞机建模为虚拟质量弹阻尼器系统.
- 将撞击器定义为特定肢体的平面,以捕捉相对框架中的动态,避免IMU漂移.
- 实施简化检测方案,使用单个动态系统响应变量和用于高速处理的散列方法.
主要成果:
- 基于碰撞器的算法有效地检测出复杂的即兴舞蹈动作.
- 证明了可穿戴的,基于原木的软执行器 (改变尺寸和照明) 的控制,以响应检测到的运动.
- 对实时舞蹈应用程序的算法的稳定性和速度进行实验验证.
结论:
- 拟议的算法为跟踪任意舞动提供了一个强大的解决方案,克服了传统方法的局限性.
- 这项技术使舞者能够有机地触发舞台事件,创造新的美学体验.
- 这项研究强调了将先进的机器人和感知与自发的艺术表达相结合的潜力,以增强表演艺术的潜力.
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