<div dir="auto"><div dir="auto">The last task Raibert mentioned to me before I was promoted and hired by another school was to develop a standard representation for the "trajectory" of a robot. This would have been a set of time series for each "joint" etc.</div><div dir="auto"><br></div><div dir="auto">I wish I hadn't left but I'm sure that task has been accomplished.</div><div dir="auto"><br></div><div dir="auto">F<br><br><div data-smartmail="gmail_signature" dir="auto">---<br>Frank C. Wimberly<br>140 Calle Ojo Feliz, <br>Santa Fe, NM 87505<br><br>505 670-9918<br>Santa Fe, NM</div></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Sat, Apr 3, 2021, 12:58 PM Marcus Daniels <<a href="mailto:marcus@snoutfarm.com" target="_blank" rel="noreferrer">marcus@snoutfarm.com</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
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<p class="MsoNormal"><a href="https://www.washingtonpost.com/technology/2021/03/23/future-robots-home-jetsons/" rel="noreferrer noreferrer" target="_blank">For all the hype, robots are limited in what they can do in your home - The Washington Post</a><u></u><u></u></p>
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<p class="MsoNormal"><b>From:</b> Friam <<a href="mailto:friam-bounces@redfish.com" rel="noreferrer noreferrer" target="_blank">friam-bounces@redfish.com</a>> <b>On Behalf Of
</b>Frank Wimberly<br>
<b>Sent:</b> Saturday, April 3, 2021 11:24 AM<br>
<b>To:</b> The Friday Morning Applied Complexity Coffee Group <<a href="mailto:friam@redfish.com" rel="noreferrer noreferrer" target="_blank">friam@redfish.com</a>><br>
<b>Subject:</b> Re: [FRIAM] Dancing Robots<u></u><u></u></p>
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<p class="MsoNormal">You darned cynics<u></u><u></u></p>
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<p class="MsoNormal"><a href="https://spectrum.ieee.org/automaton/robotics/humanoids/darpa-selects-boston-dynamics-humanoid-for-robotics-challenge" rel="noreferrer noreferrer" target="_blank">https://spectrum.ieee.org/automaton/robotics/humanoids/darpa-selects-boston-dynamics-humanoid-for-robotics-challenge</a><u></u><u></u></p>
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<p class="MsoNormal"><a href="https://www.themarlincompany.com/blog-articles/more-robots-workplace/" rel="noreferrer noreferrer" target="_blank">https://www.themarlincompany.com/blog-articles/more-robots-workplace/</a><u></u><u></u></p>
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<p class="MsoNormal"><a href="https://youtu.be/JGNopwFcz3A" rel="noreferrer noreferrer" target="_blank">https://youtu.be/JGNopwFcz3A</a><u></u><u></u></p>
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<p class="MsoNormal">I'll find some aiding-the-handicapped examples if you like.<u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Frank<u></u><u></u></p>
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<p class="MsoNormal">---<br>
Frank C. Wimberly<br>
140 Calle Ojo Feliz, <br>
Santa Fe, NM 87505<br>
<br>
505 670-9918<br>
Santa Fe, NM<u></u><u></u></p>
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<p class="MsoNormal">On Sat, Apr 3, 2021, 10:46 AM Steve Smith <<a href="mailto:sasmyth@swcp.com" rel="noreferrer noreferrer" target="_blank">sasmyth@swcp.com</a>> wrote:<u></u><u></u></p>
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<p>The "dancing" robots certainly are compelling to view, though I can see why Gary asked if it was real or memorex (CGI)... there was enough uncanny valley going on in their moves to make it clear that they were following a prescribed choreography. The miniscule
detail in the dance moves is what I *think* makes it impressive. I am doubting that the proportions and range of motion/etc of the robotic humanoids is as close to humans' as implied by the constraints (in software, in choreography) imposed.
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<p>I also wonder how much of this is essentially driven by something like MoCap that is then tweaked to match the dynamical performance envelope/constraints of the robot simulacrum? Or by derivation, ws ther some kind of machine learning going on on a *suite*
of human MoCap data sets. Or is there a very capable cyber-choreographer who implicitly understands the robot's "coupled impedance elements" in a way that allows them to hack/hint/nuance the instructions down to this level of performance?<u></u><u></u></p>
<p>Are these class of robots targeted for mission-spec autonomy or are they more targeted to default to being Waldos with some self-driving constraints?<u></u><u></u></p>
<p>I haven't tracked whether the Laban Notation movement has actually been useful to extend into robotic-motion... it starts to seem relevant once humanoid Robots are presented dancing human-dances.<u></u><u></u></p>
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<p><a href="https://en.wikipedia.org/wiki/Laban_movement_analysis" rel="noreferrer noreferrer" target="_blank">https://en.wikipedia.org/wiki/Laban_movement_analysis</a><u></u><u></u></p>
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<p>The "impressive illusion" is that these Robots are responding to the music itself and to one another (couples dancing) in a way that seems highly doubtful. They appear to be merely very artful puppets with wireless "strings". No small feat, bringing
them to this point, but the most interesting/impressive aspects are likely careful bit-chiseling on the instruction sets.<u></u><u></u></p>
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<p class="MsoNormal">It would be more impressive if they were helping an elderly person go to the bathroom. Chasing a person in irregular terrain would be convincing too.<u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">On Apr 3, 2021, at 9:00 AM, Gary Schiltz
<a href="mailto:gary@naturesvisualarts.com" rel="noreferrer noreferrer" target="_blank"><gary@naturesvisualarts.com></a> wrote:<u></u><u></u></p>
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<p class="MsoNormal"> <u></u><u></u></p>
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<p class="MsoNormal">Thanks for letting me know. In that case, it is truly mind blowing. I had no idea robotic tech had come so far.<u></u><u></u></p>
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<p class="MsoNormal">On Sat, Apr 3, 2021 at 10:57 AM Frank Wimberly <<a href="mailto:wimberly3@gmail.com" rel="noreferrer noreferrer" target="_blank">wimberly3@gmail.com</a>> wrote:<u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Real!!<u></u><u></u></p>
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<p class="MsoNormal">---<br>
Frank C. Wimberly<br>
140 Calle Ojo Feliz, <br>
Santa Fe, NM 87505<br>
<br>
505 670-9918<br>
Santa Fe, NM<u></u><u></u></p>
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<p class="MsoNormal">On Sat, Apr 3, 2021, 9:50 AM Gary Schiltz <<a href="mailto:gary@naturesvisualarts.com" rel="noreferrer noreferrer" target="_blank">gary@naturesvisualarts.com</a>> wrote:<u></u><u></u></p>
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<p class="MsoNormal">Serious question, since I didn't make it to vfriam yesterday. With the advances in CGI these days, I don't know if this is computer generated or real. Which is it?<u></u><u></u></p>
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<p class="MsoNormal">On Sat, Apr 3, 2021 at 10:02 AM Frank Wimberly <<a href="mailto:wimberly3@gmail.com" rel="noreferrer noreferrer" target="_blank">wimberly3@gmail.com</a>> wrote:<u></u><u></u></p>
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<p class="MsoNormal">For those who haven't seen the video that was mentioned in yesterday's meeting:
<u></u><u></u></p>
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<p class="MsoNormal"><a href="https://youtu.be/fn3KWM1kuAw" rel="noreferrer noreferrer" target="_blank">https://youtu.be/fn3KWM1kuAw</a><u></u><u></u></p>
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<p class="MsoNormal">Marc has accomplished a lot since this:<u></u><u></u></p>
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<li class="MsoNormal">
<span style="font-size:13.5pt;font-family:"Arial",sans-serif">Raibert, M. H., Wimberly, F. C. 1984. Tabular control of balance in a dynamic legged system. <i>IEEE Trans. Systems, Man, and Cybernetics</i> 14:334--339.<u></u><u></u></span></li></ul>
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<p class="MsoNormal">---<br>
Frank C. Wimberly<br>
140 Calle Ojo Feliz, <br>
Santa Fe, NM 87505<br>
<br>
505 670-9918<br>
Santa Fe, NM<u></u><u></u></p>
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