Shadow Puppetry with Robotic Arms

Abstract

In this work, we aim to introduce our framework that performs the hand shadow puppetry using robotic arms. Human arms are not flexible and dynamic enough to produce many complicated shadow poses so we aim to utilize robotic arms for shadow puppetry. Firstly, we construct a shadow library to cover all the possible shadow images for a single robotic hand. For the input image, we first extract the shadow image by using a salient object detector. Then we match the shape correspondences between the input shadow image with the ones in the shadow library. Finally, we transfer the corresponding parameters of the best matching shadow in the library into proper utility to control the physical robotics arms.