A Prototype Platform for Live Human-Robot Choreography

摘要

As robot sensors, mechanisms, and artificial intelligence algorithms increase in capability and availability, the performing arts has incorporated robots into different creative works. These performances often focus on humans and robots as separately controlled entities that interact at specific points in time. In this paper, we propose, implement, and evaluate a human-robot teaming platform that enables the live choreography of human-robot teams that work together within an improvisational performance context. This platform unifies robots and humans using a novel integration of programming abstractions, wireless haptics, and autonomous behaviors that provide a foundation to construct and manage non-dyadic human-robot teams. Furthermore, we demonstrate this platform in a live human-robot choreographic experience with close audience interaction. We use this performance to gather qualitative data about audience sentiment and performer experience that informs how these human-robot teams might be perceived when operating in close proximity.