{"id":"https://openalex.org/W2026124789","doi":"https://doi.org/10.1109/arso.2014.7020993","title":"HERB's Sure Thing: A rapid drama system for rehearsing and performing live robot theater","display_name":"HERB's Sure Thing: A rapid drama system for rehearsing and performing live robot theater","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2026124789","doi":"https://doi.org/10.1109/arso.2014.7020993","mag":"2026124789"},"language":"en","primary_location":{"id":"doi:10.1109/arso.2014.7020993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso.2014.7020993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Workshop on Advanced Robotics and its Social Impacts","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068614605","display_name":"Garth Zeglin","orcid":"https://orcid.org/0000-0002-6680-4787"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garth Zeglin","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018904034","display_name":"Aaron Walsman","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Walsman","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084585983","display_name":"Laura Herlant","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Herlant","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011336919","display_name":"Zhaodong Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaodong Zheng","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100966744","display_name":"Yuyang Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuyang Guo","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111687778","display_name":"Michael C. Koval","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Koval","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022220930","display_name":"Kevin Lenzo","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Lenzo","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048597254","display_name":"Hui Jun Tay","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hui Jun Tay","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110215012","display_name":"Prasanna Velagapudi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prasanna Velagapudi","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018640417","display_name":"Katie Correll","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katie Correll","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.2834,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.92152879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"129","last_page":"136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drama","display_name":"Drama","score":0.8768426179885864},{"id":"https://openalex.org/keywords/rehearsing","display_name":"Rehearsing","score":0.876589834690094},{"id":"https://openalex.org/keywords/improvisation","display_name":"Improvisation","score":0.7819837927818298},{"id":"https://openalex.org/keywords/performing-arts","display_name":"Performing arts","score":0.7129065990447998},{"id":"https://openalex.org/keywords/impromptu","display_name":"Impromptu","score":0.5747833251953125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5601434111595154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.539481520652771},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.49342861771583557},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47248023748397827},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.44095608592033386},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.40370047092437744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2397424876689911},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.23729568719863892},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.1818591058254242}],"concepts":[{"id":"https://openalex.org/C523419034","wikidata":"https://www.wikidata.org/wiki/Q25372","display_name":"Drama","level":2,"score":0.8768426179885864},{"id":"https://openalex.org/C2910391586","wikidata":"https://www.wikidata.org/wiki/Q1751775","display_name":"Rehearsing","level":2,"score":0.876589834690094},{"id":"https://openalex.org/C125468537","wikidata":"https://www.wikidata.org/wiki/Q214961","display_name":"Improvisation","level":2,"score":0.7819837927818298},{"id":"https://openalex.org/C163286209","wikidata":"https://www.wikidata.org/wiki/Q184485","display_name":"Performing arts","level":2,"score":0.7129065990447998},{"id":"https://openalex.org/C2781454322","wikidata":"https://www.wikidata.org/wiki/Q6007730","display_name":"Impromptu","level":2,"score":0.5747833251953125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5601434111595154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.539481520652771},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.49342861771583557},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47248023748397827},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.44095608592033386},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.40370047092437744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2397424876689911},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.23729568719863892},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.1818591058254242},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso.2014.7020993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso.2014.7020993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Workshop on Advanced Robotics and its Social Impacts","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W414305928","https://openalex.org/W1497716120","https://openalex.org/W1509247433","https://openalex.org/W1511765315","https://openalex.org/W1525502786","https://openalex.org/W1527575096","https://openalex.org/W1575301740","https://openalex.org/W1876868878","https://openalex.org/W1911684995","https://openalex.org/W2016721335","https://openalex.org/W2017331836","https://openalex.org/W2068911002","https://openalex.org/W2074549122","https://openalex.org/W2079596707","https://openalex.org/W2090768711","https://openalex.org/W2099893201","https://openalex.org/W2109208544","https://openalex.org/W2110029560","https://openalex.org/W2113151339","https://openalex.org/W2116664516","https://openalex.org/W2121378366","https://openalex.org/W2130608943","https://openalex.org/W2134447392","https://openalex.org/W2150658333","https://openalex.org/W2152816769","https://openalex.org/W2159652967","https://openalex.org/W2331973636","https://openalex.org/W2403632467","https://openalex.org/W2901136733","https://openalex.org/W2998680134","https://openalex.org/W6614366970","https://openalex.org/W6629839821","https://openalex.org/W6630665292","https://openalex.org/W6631518110","https://openalex.org/W6676839166","https://openalex.org/W6713425194","https://openalex.org/W6756486208","https://openalex.org/W6772779702"],"related_works":["https://openalex.org/W2241334379","https://openalex.org/W2578088241","https://openalex.org/W17886866","https://openalex.org/W125292789","https://openalex.org/W2150960537","https://openalex.org/W2034170790","https://openalex.org/W4390798463","https://openalex.org/W2477218069","https://openalex.org/W2229922403","https://openalex.org/W2793641293"],"abstract_inverted_index":{"In":[0],"Spring":[1],"2014,":[2],"the":[3,11,25,29,45,48,52,63,100,118],"Personal":[4],"Robotics":[5],"Lab":[6],"at":[7,24],"CMU":[8],"collaborated":[9],"with":[10,42],"School":[12],"of":[13,37,62,99,106],"Drama":[14],"to":[15,103,120],"develop,":[16],"produce":[17],"and":[18,47,58,82,89,93,109],"stage":[19],"a":[20,68,83],"live":[21],"theatrical":[22,56],"performance":[23,57],"Purnell":[26],"Center":[27],"for":[28,72,78,86],"Arts":[30],"in":[31,117],"Pittsburgh.":[32],"This":[33],"paper":[34],"describes":[35],"some":[36,61,98],"our":[38,104],"unique":[39],"experiences":[40],"collaborating":[41],"drama":[43],"faculty,":[44],"director":[46],"actor.":[49],"We":[50],"highlight":[51],"challenges":[53,102],"arising":[54],"from":[55],"specifically":[59],"describe":[60],"technical":[64],"tools":[65,111],"we":[66],"developed:":[67],"bidirectional":[69],"Blender":[70],"interface":[71],"robot":[73],"animation,":[74],"an":[75],"interactive":[76],"system":[77],"manipulating":[79],"speech":[80],"prosody,":[81],"conductor's":[84],"console":[85],"online":[87],"improvisation":[88],"control":[90],"during":[91],"rehearsal":[92],"performance.":[94,125],"It":[95],"also":[96],"explores":[97],"remaining":[101],"goal":[105],"developing":[107],"algorithms":[108],"open-source":[110],"that":[112],"can":[113],"enable":[114],"any":[115],"roboticist":[116],"world":[119],"create":[121],"their":[122],"own":[123],"dramatic":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}