In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the motion was divided into 8 states. Then the set of feasible brake torque was analyzed, which is a subset of whole brake torque, this makes the control of passive type robot more complicated than general mobile robots. When the desired force is within this set, the brake torque for each wheel can be derived by static equation, otherwise, the assistance force applied by male dancer is employed. Considering the passivity of PDR, non-time based path tracking control was proposed for dance step tracking, and a fast orthogonal projection algorithm was proposed to achieve non-time based control. Experimental results illustrated the validity of the proposed concept.