By Francesc Trabal

First released in 1936, and regarded essentially the most leading edge and critical novels written in Catalan, Waltz tells the story of an idle, introspective, and a little oblivious younger "man with out qualities" as he stumbles via a milieu of civic upheaval and bourgeois tragedy as he waltzes from one potential bride to a different, by no means prepared to compromise his beliefs, and so by no means rather changing into an grownup. With one foot within the romanticism of Goethe or Kleist, and one other within the wildly differing takes at the smooth novel supplied by way of Aldous Huxley, James Joyce, and Marcel Proust, respectively, Waltz is an sometimes absurd comedy of indecision and indolence established in imitation of the dance from which it takes its name.

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Pure" direct motions require no additional joint angle change specifications; "pure" changes require no goals. In between are a range of potential motions biased by some additional joint angle adjustment. An example of such a combination might be a forward reach goal for an arm biased by an explicit shoulder and elbow flexions. The kinematic position computed on the basis of the reach would be modified by the elbow and shoulder changes. The hand might achieve the general goal direction but fail to achieve it precisely, perhaps by falling short and low of the mark.

1980). Computer animation done without concern for motion dynamics looks flat- or mechanical at best; discontinuous or jerky at worst. , 1980; Baecker, 1969; Zeltzer, 1982; Ginsberg & Maxwell, 1986). , 1987; Wilhelms, 1987; Girard, 1987). Our own examination of the motion control problem has focused on alternative notation systems combined with physical and graphical motion models suited to the complexity of the human figure. In searching for a representational basis for the dynamic qualities of movement, we examined a notation system complementary to Labanotation called Effort-Shape notation (Dell, 1970; Bartenieff, 1980).

Thus we propose a continuum from direct to indirect which is represented as a linear combination of joint angles derived from explicit Cartesian goals and joint angle changes. "Pure" direct combination of joint angles are derived from explicit Cartesian goals and joint angle changes. "Pure" direct motions require no additional joint angle change specifications; "pure" changes require no goals. In between are a range of potential motions biased by some additional joint angle adjustment. An example of such a combination might be a forward reach goal for an arm biased by an explicit shoulder and elbow flexions.

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