“Constraints are a longstanding, liberating force in creativity as a means to focus options and create tension and drama. “Degrees of freedom” is a term in robotics corresponding to the number of moveable joints, and systems with a high degree of freedom are notoriously difficult to control. William Forsythe and the Frankfurt Ballet investigated using a system of constraints to inspire choreographic improvisation. This film goes beyond their work by adding a formal framework of geometry, physics, and computation. Eleven Degrees of Freedom was choreographed on a bespoke physical robot using custom software that allows the movements to be created on a computer using simulation with a digital twin. The constraints are modular components that can be easily authored, composed, and sequenced. The dynamic interplay between constraints and freedom resulted in surprising grace. I would like to thank Les Stuck for composing the music and being my advisor on this project.” —Jonathan Bachrach
