swing dancing and multi-agent coordination

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Swing Dancing and Multi-agent Coordination Sommer Gentry Eric Feron MURI Meeting March, 2002

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Swing Dancing and Multi-agent Coordination. Sommer Gentry Eric Feron MURI Meeting March, 2002. And a 5, 6, a 5-6-7-8. About swing dancing High-level cooperative motion planning Experimental work: Connection force estimates from video via inverse dynamics. Why Swing Dancing?. - PowerPoint PPT Presentation

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Page 1: Swing Dancing and Multi-agent Coordination

Swing Dancing and Multi-agent Coordination

Sommer GentryEric Feron

MURI Meeting March, 2002

Page 2: Swing Dancing and Multi-agent Coordination

And a 5, 6, a 5-6-7-8

• About swing dancing• High-level cooperative motion

planning• Experimental work: Connection force

estimates from video via inverse dynamics

Page 3: Swing Dancing and Multi-agent Coordination

Why Swing Dancing?• Sports biomechanics studies abound for

gymnastics, swimming, pole vaulting, etc.• Swing dancing is a partnered form of movement

necessitating shared momentum• Could be a setting for novel cooperative maneuver

studies– unknown environments– constrained resources and communication – leader and follower structure

Page 4: Swing Dancing and Multi-agent Coordination

Lindy Hop (1935)

Page 5: Swing Dancing and Multi-agent Coordination

Closed

SlingCrosshand

Right hand

Tuck turn

Sendout

Pullthrough

Underarm

WhipCircle

Connection StateConnection Statedetermines which determines which actuators on the actuators on the

follower’s motionfollower’s motionare available to leaderare available to leader

Page 6: Swing Dancing and Multi-agent Coordination

Follower

Decentralized Hybrid Controller

P

K

Leader

P

K

Forces (Forces (κ))(x(xf f ,, yyf f ,, θθf f ))

Desired (xDesired (xf f ,, yyf f ,, θθf f ))--

Connection AutomatonConnection AutomatonConnection state change requestConnection state change request

κ

For fixed κ

Page 7: Swing Dancing and Multi-agent Coordination

Decentralized hybrid control• Connection state

– {closed, right hand, two hands, crosshand, no hands}

• (xl , yl , θl ), (xf , yf , θf ) are leader’s and follower’s position on floor and facing angle

• Leader choreographs dance in real-time• Leader knows desired follower trajectory

– Hypothesis: leader imparts force, but can not cause the complete motion of the follower

• Follower knows a lexicon of swing dance moves– Hypothesis: follower interprets leader’s force signals to select a

sequence of moves

Page 8: Swing Dancing and Multi-agent Coordination

• Two hands one hand – no restrictions

• One hand closed– close enough: (xl - xf)2 + (yl - yf)2 < C

– facing each other: 90 < θl - θf < 180

– on the correct side: (cos θl)xl < (cos θl)xf (sin θl) yl > (sin θl) yf

Controlled switching surfaces

Page 9: Swing Dancing and Multi-agent Coordination

Follower’s problem

• Given the lead as an input, decide what movement to do– model imperfect or noisy leads (late leads,

over-forceful turns, etc.)– uncover or learn strategies for robust following

Page 10: Swing Dancing and Multi-agent Coordination

Leader’s problem

• Given a movement from a shared dance vocabulary, design a lead that – is unambiguous – doesn’t render the movement impossible for

either the leader or the follower– minimizes some physical criterion (jerk for

example)

Page 11: Swing Dancing and Multi-agent Coordination

Dancers tune their connection• A few quotes from swing dancers

– “When I dance with a new partner, I try to feel whether he wants to counterbalance me and try to judge how much he can take.”

– “Is she a light or heavy follow? Is she matching my counterbalance or I hers? Is she supporting her own weight? Or as a follow: is he a strong lead or do I need to think about what he's trying to get me to do? Does he pull me too hard on swingouts or is he clear and minimal in his leads?”

– “I have seen some footage of late 30s and early 40s L.A. style Lindy and it relies on lots of counter-balance and traveling steps.”

• Source: www.delphiforums.com/(socalswing|swingoutdc)

Page 12: Swing Dancing and Multi-agent Coordination

Force / trajectory control• Dancers use counterbalance force

– leader and follower holding hands both shift center of gravity back slightly; the resulting static force is connection, or counterbalance

– counterbalance enables faster spins and travel• Movement is also initiated by force

– How is force that requests increased counterbalance distinguished from force that requests follower to move forward? Preliminary data suggest ‘move forward’ is coded in the first derivative of force

Page 13: Swing Dancing and Multi-agent Coordination

==

and if on the expected beat, coded properly in derivativeand if on the expected beat, coded properly in derivative

A follower is not a ton of bricks

F / m = aF / m = a

F = follower motion= follower motion.

Page 14: Swing Dancing and Multi-agent Coordination

Force estimates from video

• Acquire estimate of the connection force between dancers in video

• Active marker systems (Optotrak) exist, but here I used standard video recording frames

• Lindy hop is a historical dance form– uninstrumented video from 1930’s and 1940’s is

treasured by dancers and could be studied• Example: sugar push video

Page 15: Swing Dancing and Multi-agent Coordination

Inverse Dynamics• Given inertial properties and a time history

of the motion of a system, generate force/torque histories for that system

• Tabulate motion history from video frames

Page 16: Swing Dancing and Multi-agent Coordination

Sugar Push

Page 17: Swing Dancing and Multi-agent Coordination

Inertial properties of a human• Yeadon, M.R. "The simulation of aerial movement

- II. A mathematical inertia model of the human body." J. Biomechanics 23, pp 67-74

• From lengths and circumferences of body segments, Yeadon’s model gives inertial properties of the segments of the body (M, Ix, Iy, Iz)

• Stadia: trunk segments• Truncated cones: arm,

leg segments

Page 18: Swing Dancing and Multi-agent Coordination

SD/FAST results• SD/FAST software computed the inverse

dynamics given time histories of the joint angles and the follower’s inertial properties

Page 19: Swing Dancing and Multi-agent Coordination

Measured connection force

Tek-scan sensor system captured connection forces between leader and follower

Thanks to: Dr. Patricia Schmidt of the MIT Manned Vehicle Lab

Page 20: Swing Dancing and Multi-agent Coordination

Sugar push connection force

Page 21: Swing Dancing and Multi-agent Coordination

Conclusions from first stage

• Video, via inverse dynamics, might be used to generate estimates of connection force

• The pattern of connection force for a particular maneuver is consistent with some noise; that is, a sugar push lead has a certain nominal force pattern with some bounded variation

Page 22: Swing Dancing and Multi-agent Coordination

Sugar pushes versus swingouts

0

5

10

15

20

25

30

0.0 0.3 0.5 0.7 1.0 1.3 1.5 1.7 2.0 2.2 2.5 2.7 3.0 3.2 3.5 3.7 4.0

Time (secs)

Forc

e (N

)

Page 23: Swing Dancing and Multi-agent Coordination

Representing dance leads quantitatively

• Push and pull should be distinguished• Some moves involve leads which push and

pull while hands move• Right and left hands are not always

symmetric• Which foot the follower is on changes the

meaning of a lead

Page 24: Swing Dancing and Multi-agent Coordination

Relevant work

• Physical interaction between human and a bipedal humanoid robot: Realization of human-follow walking, A. Takanishi et al [1999 IEEE Conf. Robotics and Automation]

• Controlling formations of multiple mobile robots, J.P. Desai, J. Ostrowski, V. Kumar [1998 IEEE Conf. Robotics and Automation]

• Robust hybrid control for autonomous vehicle motion planning, E. Frazzoli, M. Dahleh, E. Feron [LIDS-P-2468]

Page 25: Swing Dancing and Multi-agent Coordination

Relevant work• Optimal robot motions for physical criteria, J.E.

Bobrow et al, Journal of Robotic Systems 18(12), 2001– “One view of a motion program is as a concatenation of

simpler motion primitives. The compiler's role then is to optimize this sequence of motion primitives with respect to some performance criterion. In this sense the motion compiler can be viewed as a choreographer - it pieces and blends a sequence of crude basic motions into a fluid and artistic dance.”

Page 26: Swing Dancing and Multi-agent Coordination

Graceful motion is optimized• Planning of joint trajectories for humanoid

robots using B-spline wavelets, A. Ude, C. Atkeson, M. Riley [IEEE Conf. Robotics and Automation 2000]– regularization by

minimizing amplitude of acceleration or jerk

Page 27: Swing Dancing and Multi-agent Coordination

Big Picture• What is the perfomance measure being optimized by

expert swing dancers? – objectively judge dance performances

• Characterize swing dance lead and follow– lead is not just a ‘signal’ but also makes the movement

physically possible or impossible• Ultimate goal might be to create a control strategy for a

robot that can swing dance– control multi-agent systems with a leader and follower(s) in

collision-free coordinated motion

Page 28: Swing Dancing and Multi-agent Coordination

Questions? Ideas?

Page 29: Swing Dancing and Multi-agent Coordination

5th Place American Showcase 2001