Gernot Hoffmann	3   Learning Marionette
Cover Page Title Page Dancing Marionette Learning Marionette Image Processing Computer Graphics Geometry Scanner Photo Equipment Machines and Tools Electronics Info + Help + Print Links Documents	After we had finished the project Dancing Marionette , we started to teach the puppet a choreography by showing the motions of a dancer. The dancer carries a rucksack with four infrared diodes which are synchronized by radio transmission to a video- system with two cameras. Using the images of the flashes the positions of the diodes in the object space can be computed by photogrammetry. Then we get a set of gene- ralized coordinates for the body: x,y,z and three angles. This set is stored, filtered, interpolated and manipulated for esthetical reasons, regarding the fact, that the motion belongs to music. The trajectories are then copied to the puppet, playing the same music as during the teaching mode. Now the playback speed of the motion is synchronized to the actual speed of the music player by correlation control: omitting or doubling of trajectory steps. Hoffmann, G.: Teach-In of a Robot by Showing the Motion. International Conference on Image Processing, Lausanne. IEEE Proc.ICIP-96, Vol 1, p.529-532, 1996 (Documents)
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