Bibliography

This is more of a project course than a theory course, but we will have a few readings to help set the context and define the questions. Following are some suggested starting points for additional reading. The literature related to creative robotics is scattered across a broad range of sources.

The papers are categorized in the following sections with brief descriptions. The citations in the descriptions link further below to the full bibliographic references.

Robotics in Drama and Theater

“HERB’s Sure Thing”: A report on using a mobile two-armed research robot to perform opposite a human in a one-act play [ZWH+14].

“Interactive robot theatre”: An article by Cynthia Breazeal et al. about a interactive “robot anemone” theater installation featuring real-time perception of the audience and generative behavior [BBG+03].

“Eight lessons learned about non-verbal interactions through robot theater”: a survey article by Heather Knight making the case that robot theater can motivate social robot design approaches [Kni11].

“Viewpoints”: A theater and dance manual for teaching a systematic approach to creative movement [BL05]. This has nothing directly to do with robotics, but could provide a vocabulary for inspiring and categorizing robot movements. An earlier discussion of the same [Dix95].

Still to review:

[HKB08] [JSJM14] [MH09] [MSG+11] [LWPS11] [Sun10] [CPP82] [ZBBR13] [LGM+12] [LCH+13]

Sculpture and Art

“Kinetic Art: Theory and Practice”: selections from the journal Leonardo surveying the history of kinetic art (not necessarily robotic) [Mal74].

“motion motion Kinetic Art”: a survey of the history of kinetic sculpture (not necessarily robotic) [JQ89].

Still to review:

[Che02] [Top02] [Wil02] [VH95] [Bou80]

“The Multiple Bodies of a Machine Performer” (book chapter) [Dem16].

Believable Agents

“Robot improv”: a paper on applying AI methods to create rule-based generative behavior that enacts a drama with mobile robots [BKL+00].

“The role of emotion in believable agents”: an early paper on the idea of simulating emotional interaction between graphical agents [Bat94], and a related CMU technical report [BLR92].

Dynamic Robots

“The swing up control problem for the Acrobot”: An article by Mark Spong on controlling an inverted two-link pendulum with the actuator on the distal link [Spo95]. The article is written for a control systems theory audience but represents a particular style of work controlling simple underactuated robots to perform surprising dynamic movements.

“Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot” [SSF+15]. Builds up on [LM99]. An example of very simple one-DOF manipulator elucidating complex open-loop rolling motions using deep analysis of the dynamics. (Video: https://www.youtube.com/watch?v=kyvW5sOcZHU).

Tad McGeer constructed several unactuated walking machines [McG89] [McG90] around 1989 which spurred development of many dynamic walking machines. A few examples: [CWR01] [Kuo99] [CRTW05]

Other Robotics

“Learning tasks from observation and practice” [BAC04] addresses machine learning in a space of behavior primitives, notably using air hockey and a marble maze as task examples. (Video: https://www.youtube.com/watch?v=Nl02i0E0PWU).

Cited References

[Bat94]J. Bates. The role of emotion in believable agents. Communications of the ACM, 37(7):122–5, July 1994. doi:10.1145/176789.176803.
[BLR92]Joseph Bates, A. Bryan Loyall, and W. Scott Reilly. Integrating reactivity, goals, and emotion in a broad agent. Technical Report CMU-CS-92-142, Carnegie Mellon University, 1992.
[BAC04]Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng. Learning tasks from observation and practice. Robotics and Autonomous Systems, 47(2):163 – 169, 2004. Robot Learning from Demonstration. URL: http://www.sciencedirect.com/science/article/pii/S0921889004000466, doi:https://doi.org/10.1016/j.robot.2004.03.010.
[BL05]Anne Bogart and Tina Landau. The viewpoints book : a practical guide to viewpoints and composition. Theatre Communications Group, 2005. ISBN 9781559362412.
[Bou80]David Bourdon. Calder: mobilist, ringmaster, innovator. Macmillan, New York, 1980.
[BBG+03]Cynthia Breazeal, Andrew Brooks, Jesse Gray, Matt Hancher, John McBean, Dan Stiehl, and Joshua Strickon. Interactive robot theatre. Communications of the ACM, 46(7):76–85, 2003.
[BKL+00]Allison Bruce, Jonathan Knight, Samuel Listopad, Brian Magerko, and Illah Nourbakhsh. Robot improv: using drama to create believable agents. In Robotics and Automation, 2000. Proceedings. ICRA ‘00. IEEE International Conference on, volume 4, 4002–4008. IEEE, 2000. doi:10.1109/ROBOT.2000.845355.
[BW71]Nester Burtnyk and Marceli Wein. Computer-generated key-frame animation. Journal of the SMPTE, 80(3):149–153, 1971.
[Cas98]Justine Cassell. A framework for gesture generation and interpretation. Computer vision in human-machine interaction, pages 191–215, 1998.
[CPP82]Sergio Cavaliere, Loreto Papadia, and Pasquale Parascandolo. From computer music to the theater: the realization of a theatrical automaton. Computer Music Journal, 6(4):22–35, December 1982.
[CDW+10]Amiy R. Chatley, Kerstin Dautenhahn, Mick L. Walters, Dag Sverre Syrdal, and Bruce Christianson. Theatre as a discussion tool in human-robot interaction experiments-a pilot study. In Advances in Computer-Human Interactions, 2010. ACHI‘10. Third International Conference on, 73–78. IEEE, 2010.
[Che02]Aric Chen. Gisela stromeyer’s tensile amoebas. Graphis, 58(339):24–29, May/June 2002.
[CRTW05]Steve Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082–5, February 2005.
[CWR01]Steven H. Collins, Martijn Wisse, and Andy Ruina. A 3-d passive-dynamic walking robot with two legs and knees. International Journal of Robotics Research, April 2001. URL: http://www.tam.cornell.edu/~ruina/hplab/walking_papers.html.
[Dem16]Louis-Philippe Demers. The Multiple Bodies of a Machine Performer, pages 273–306. Springer Singapore, Singapore, 2016. URL: https://doi.org/10.1007/978-981-10-0321-9_14, doi:10.1007/978-981-10-0321-9_14.
[Dix95]Michael Bigelow. Dixon. Anne Bogart : viewpoints. Smith and Kraus, 1995. ISBN 978-1880399804, 978-1880399941.
[DS13]Anca Dragan and Siddhartha Srinivasa. Generating legible motion. In Proceedings of Robotics: Science and Systems. June 2013.
[DLS13]Anca D. Dragan, Kenton CT Lee, and Siddhartha S. Srinivasa. Legibility and predictability of robot motion. In Human-Robot Interaction (HRI), 2013 8th ACM/IEEE International Conference on, 301–308. IEEE, 2013.
[HHL05]Sabrina Haskell, Andrew Hosmer, and Eugenia Leu. An extensible platform for interactive, entertaining social experiences with an animatronic character. In Proceedings of the 2005 ACM SIGCHI International Conference on Advances in computer entertainment technology, 141–148. ACM, 2005.
[HKB08]Guy Hoffman, Rony Kubat, and Cynthia Breazeal. A hybrid control system for puppeteering a live robotic stage actor. In IEEE International Symposium on Robot and Human Interactive Communication, 354–359. IEEE, 2008.
[JQ89]Jim Jenkins and Dave Quick. motion motion Kinetic Art. Gibbs Smith, P.O. Box 667, Layton, Utah 84041, 1989. ISBN 0-87905-185-X.
[JSJM14]Elizabeth Jochum, Jarvis Schultz, Elliot Johnson, and T. D. Murphey. Robotic puppets and the engineering of autonomous theater. In Controls and Art, pages 107–128. Springer, 2014.
[KSG+13]Michelle Karg, A. Samadani, Rob Gorbet, K. Kuhnlenz, Jesse Hoey, and Dana Kulic. Body movements for affective expression: a survey of automatic recognition and generation. IEEE Transactions on Affective Computing, 2013.
[Kni11]Heather Knight. Eight lessons learned about non-verbal interactions through robot theater. In Social Robotics, pages 42–51. Springer, 2011. doi:10.1007/978-3-642-25504-5_5.
[Kuo99]Arthur D. Kuo. Stabilization of lateral motion in passive dynamic walking. International Journal of Robotics Research, 18(9):917–930, 1999.
[Las87]John Lasseter. Principles of traditional animation applied to 3d computer animation. In ACM Siggraph Computer Graphics, volume 21, 35–44. ACM, 1987.
[LGM+12]Séverin Lemaignan, Mamoun Gharbi, Jim Mainprice, Matthieu Herrb, and Rachid Alami. Roboscopie: a theatre performance for a human and a robot. In ACM/IEEE International Conference on Human-robot Interaction, 427–428. ACM, 2012. doi:10.1145/2157689.2157831.
[LCH+13]Chyi-Yeu Lin, Li-Chieh Cheng, Chun-Chia Huang, Li-Wen Chuang, Wei-Chung Teng, Chung-Hsien Kuo, Hung-Yan Gu, Kuo-Liang Chung, and Chin-Shyurng Fahn. Versatile humanoid robots for theatrical performances. Int J Adv Robotic Sy, 2013.
[LWPS11]David V. Lu, Chris Wilson, Annamaria Pileggi, and William D. Smart. A robot acting partner. In ICRA Workshop on Robots and Art. Shanghai, China, 2011.
[LM99]Kevin Lynch and Matthew T. Mason. Dynamic nonprehensile manipulation: controllability, planning and experiments. International Journal of Robotics Research, 18(1):64–92, January 1999.
[Mal74]Frank J. Malina, editor. Kinetic Art: Theory and Practice. Dover Publications, 1974.
[MH09]Nikolaos Mavridis and David Hanson. The IbnSina center: an augmented reality theater with intelligent robotic and virtual characters. In IEEE International Symposium on Robot and Human Interactive Communication, 681–686. IEEE, 2009.
[McG90]T. McGeer. Passive dynamic walking (two-legged machines). International Journal of Robotics Research, 9(2):62–82, 1990.
[McG89]Tad McGeer. Powered flight, child’s play, silly wheels and walking machines. In Proceedings of IEEE International Conference on Robotics and Automation, volume 3, 1592–7. May 1989.
[MSG+11]Robin Murphy, Dylan Shell, Amy Guerin, Brittany Duncan, Benjamin Fine, Kevin Pratt, and Takis Zourntos. A midsummer night’s dream (with flying robots). Autonomous Robots, 30(2):143–156, 2011.
[Neh05]Chrystopher L Nehaniv. Classifying types of gesture and inferring intent. In Procs of the AISB 05 Symposium on Robot Companions. AISB, 2005.
[OBP+12]Verónica Orvalho, Pedro Bastos, Frederic Parke, Bruno Oliveira, and Xenxo Alvarez. A facial rigging survey. In in Proc. of the 33rd Annual Conference of the European Association for Computer Graphics-Eurographics, 10–32. 2012.
[PAB08]Nuria Pelechano, Jan M Allbeck, and Norman I Badler. Virtual crowds: methods, simulation, and control. Synthesis Lectures on Computer Graphics and Animation, 3(1):1–176, 2008.
[PMP+03]Joelle Pineau, Michael Montemerlo, M. Pollack, Nicholas Roy, and Sebastian Thrun. Towards robotic assistants in nursing homes: challenges and results. Special issue on Socially Interactive Robots, Robotics and Autonomous Systems, 42(3 - 4):271 – 281, 2003. doi:10.1016/S0921-8890(02)00381-0.
[Spo95]M.W. Spong. The swing up control problem for the acrobot. IEEE Control Systems Magazine, 15:49–55, Feb 1995.
[Sun10]Mathias I. Sunardi. Expressive Motion Synthesis for Robot Actors in Robot Theatre. PhD thesis, Portland State University, 2010.
[SSF+15]M. Surov, A. Shiriaev, L. Freidovich, S. Gusev, and L. Paramonov. Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “butterfly” robot. In 2015 IEEE International Conference on Robotics and Automation (ICRA), volume, 1484–1489. May 2015. doi:10.1109/ICRA.2015.7139385.
[TDJ11]Leila Takayama, Doug Dooley, and Wendy Ju. Expressing thought: improving robot readability with animation principles. In ACM/IEEE International Conference on Human-robot Interaction, HRI ‘11, 69–76. New York, NY, USA, 2011. ACM.
[TJT95]Frank Thomas, Ollie Johnston, and Frank. Thomas. The illusion of life: Disney animation. Hyperion New York, 1995.
[Top02]Sean Topham. blowup: Inflatable Art, Architecture and Design. Prestel-Verlag, Munich, 2002. ISBN 3-7913-2687-2.
[VH95]Heidi E. Violand-Hobi. Jean Tinguely. Prestel-Verlag, 1995.
[Wil09]Richard Williams. The Animator’s Survival Kit: A Manual of Methods, Principles and Formulas for Classical, Computer, Games, Stop Motion and Internet Animators. Macmillan, 2009.
[Wil02]Stephen Wilson. Information arts : intersections of art, science, and technology. MIT Press, 2002.
[ZWH+14]Garth Zeglin, Aaron Walsman, Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael C. Koval, Kevin Lenzo, Hui Jun Tay, Prasanna Velagapudi, Katie Correll, and Siddhartha S. Srinivasa. HERB’s Sure Thing: a rapid drama system for rehearsing and performing live robot theater. In IEEE Workshop on Advanced Robotics and its Social Impacts. 2014.
[ZBBR13]J. Zlotowski, T. Bleeker, C. Bartneck, and R. Reynolds. I sing the body electric an experimental theatre play with robots [video abstract]. In 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 427–427. March 2013.
[Velasquez98]Juan D. Velásquez. When robots weep: emotional memories and decision-making. In AAAI National Conference on Artificial Intelligence, 70–75. 1998.

Other References

[O1]Drazen Brscić, Hiroyuki Kidokoro, Yoshitaka Suehiro, and Takayuki Kanda. Escaping from children’s abuse of social robots. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 59–66. ACM, 2015. doi:10.1145/2696454.2696468.
[O2]Carl F DiSalvo, Francine Gemperle, Jodi Forlizzi, and Sara Kiesler. All robots are not created equal: the design and perception of humanoid robot heads. In Proceedings of the 4th conference on Designing interactive systems: processes, practices, methods, and techniques, 321–326. ACM, 2002. doi:10.1145/778712.778756.
[O3]Terrence Fong, Illah Nourbakhsh, and Kerstin Dautenhahn. A survey of socially interactive robots. Robotics and Autonomous Systems, 42(3–4):143 – 166, 2003. Socially Interactive Robots. URL: http://www.sciencedirect.com/science/article/pii/S092188900200372X, doi:10.1016/S0921-8890(02)00372-X.
[O4]Eberhard Graether and Florian Mueller. Joggobot: a flying robot as jogging companion. In CHI ‘12 Extended Abstracts on Human Factors in Computing Systems, CHI EA ‘12, 1063–1066. New York, NY, USA, 2012. ACM. doi:10.1145/2212776.2212386.
[O5]Lars Hallnäs and Johan Redström. Slow technology – designing for reflection. Personal Ubiquitous Comput., 5(3):201–212, January 2001. doi:10.1007/PL00000019.
[O6]Derek Hoiem, Alexei A Efros, and Martial Hebert. Automatic photo pop-up. ACM Transactions on Graphics (TOG), 24(3):577–584, 2005. doi:10.1145/1073204.1073232.
[O7]Mitchel Resnick, Fred Martin, Robert Berg, Rick Borovoy, Vanessa Colella, Kwin Kramer, and Brian Silverman. Digital manipulatives: new toys to think with. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, CHI ‘98, 281–287. New York, NY, USA, 1998. ACM Press/Addison-Wesley Publishing Co. doi:10.1145/274644.274684.
[O8]Natalie Rusk, Mitchel Resnick, Robbie Berg, and Margaret Pezalla-Granlund. New pathways into robotics: strategies for broadening participation. Journal of Science Education and Technology, 17(1):59–69, 2008.
[O9]Ivan Edward Sutherland. A Walking Robot. 2d ed. Published by The Martian Chronicles through the cooperation of Sutherland, Sproull & Associates, and the Robotics Institute of Carnegie Mellon University, 1983.
[O10]James E. Young, Takeo Igarashi, and Ehud Sharlin. Puppet master: designing reactive character behavior by demonstration. In Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA ‘08, 183–191. Aire-la-Ville, Switzerland, Switzerland, 2008. Eurographics Association. URL: http://dl.acm.org/citation.cfm?id=1632592.1632619.