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 .
“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 .
“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 .
“Viewpoints”: A theater and dance manual for teaching a systematic approach to creative movement . 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 .
Still to review:
Sculpture and Art¶
“Kinetic Art: Theory and Practice”: selections from the journal Leonardo surveying the history of kinetic art (not necessarily robotic) .
“motion motion Kinetic Art”: a survey of the history of kinetic sculpture (not necessarily robotic) .
Still to review:
“The Multiple Bodies of a Machine Performer” (book chapter) .
Choreography and Dance¶
“Robot improv”: a paper on applying AI methods to create rule-based generative behavior that enacts a drama with mobile robots .
“The role of emotion in believable agents”: an early paper on the idea of simulating emotional interaction between graphical agents , and a related CMU technical report .
Still to review:
“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 . 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” . Builds up on . 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   around 1989 which spurred development of many dynamic walking machines. A few examples:   
“Learning tasks from observation and practice”  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).
Animation and Graphics¶
Still to review:
Still to review:
J. Bates. The role of emotion in believable agents. Communications of the ACM, 37(7):122–5, July 1994. doi:10.1145/176789.176803.
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.
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.
Anne Bogart and Tina Landau. The viewpoints book : a practical guide to viewpoints and composition. Theatre Communications Group, 2005. ISBN 9781559362412.
David Bourdon. Calder: mobilist, ringmaster, innovator. Macmillan, New York, 1980.
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.
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.
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.
Martin Buehler, Daniel E Koditschek, and Peter J Kindlmann. Planning and control of robotic juggling and catching tasks. The International Journal of Robotics Research, 13(2):101–118, 1994.
R.R. Burridge, A.A. Rizzi, and D.E. Koditschek. Sequential composition of dynamically dexterous robot behaviors. International Journal of Robotics Research, 18(6):534–55, June 1999.
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Justine Cassell. A framework for gesture generation and interpretation. Computer vision in human-machine interaction, pages 191–215, 1998.
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.
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.
Aric Chen. Gisela stromeyer's tensile amoebas. Graphis, 58(339):24–29, May/June 2002.
Steve Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082–5, February 2005.
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.
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.
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.
Michael Bigelow. Dixon. Anne Bogart : viewpoints. Smith and Kraus, 1995. ISBN 978-1880399804, 978-1880399941.
Anca Dragan and Siddhartha Srinivasa. Generating legible motion. In Proceedings of Robotics: Science and Systems. June 2013.
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.
Enrique D Ferreira, Shu-Jen Tsai, Christiaan JJ Paredis, and H Benjamin Brown. Control of the gyrover: a single-wheel gyroscopically stabilized robot. Advanced Robotics, 14(6):459–475, 2000.
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.
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.
Lars Hallnäs and Johan Redström. Slow technology – designing for reflection. Personal Ubiquitous Comput., 5(3):201–212, January 2001. doi:10.1007/PL00000019.
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.
Sabine Hauert, Severin Leven, Maja Varga, Fabio Ruini, Angelo Cangelosi, Jean-Christophe Zufferey, and Dario Floreano. Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. URL: http://infoscience.epfl.ch/record/169280.
Shigeo Hirose and Yoji Umetani. The development of soft gripper for the versatile robot hand. Mechanism and Machine Theory, 13(3):351–359, 1978. URL: https://dx.doi.org/10.1016/0094-114X(78)90059-9.
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.
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.
Jim Jenkins and Dave Quick. motion motion Kinetic Art. Gibbs Smith, P.O. Box 667, Layton, Utah 84041, 1989. ISBN 0-87905-185-X.
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.
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.
Danae Kleida. On the Technological Conditions of the Representation of Movement: Dance Notation Systems & Annotation Practices as Gestures. PhD thesis, Utrecht University, July 2018. doi:10.13140/RG.2.2.27077.29921.
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.
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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.
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