# Avant-Satie! Using ERIK to encode task-relevant expressivity into the animation of autonomous social robots

arXiv: https://arxiv.org/abs/2203.01176 · HTML: https://mlsanity.com/paper/2203.01176/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 30 references that are in the map.
- First posted on arXiv 2 Mar 2022.

## Builds on (most cited first, 2 of 2)

- [Nutty-based Robot Animation -- Principles and Practices](https://mlsanity.com/paper/1904.02898/) (2019)
- [Expressive Inverse Kinematics Solving in Real-time for Virtual and Robotic Interactive Characters](https://mlsanity.com/paper/1909.13875/) (2019)

## Abstract (arXiv)

ERIK is an expressive inverse kinematics technique that has been previously presented and evaluated both algorithmically and in a limited user-interaction scenario. It allows autonomous social robots to convey posture-based expressive information while gaze-tracking users. We have developed a new scenario aimed at further validating some of the unsupported claims from the previous scenario. Our experiment features a fully autonomous Adelino robot, and concludes that ERIK can be used to direct a user's choice of actions during execution of a given task, fully through its non-verbal expressive queues.