A passive dance robot with active coordination capability

Zhao Liu, Ming Zhang, Jing Xu, Yu Zhu, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Human-robot coordination system is one feasible solution for a robot to assist human to conduct tasks. The most important specification is safety, especially for the system with physical interaction. To solve this problem, we developed a passive dance robot to perform ballroom dances in cooperation with a human. The paper aims to study the human-robot coordination via a passive dance robot installed with servo brakes rather than servo motors usually in active robot. The motion of passive robot is usually driven by human force. To this end, the dynamic manipulability was utilized to optimize the structure design and analyze the acceleration capability, leading to reduced human burden. Further, the non-time based path tracking algorithm was proposed. To realize non-time based control, a fast orthogonal projection algorithm was proposed. Experiments were carried out to verify the proposed methods in this paper.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Pages686-691
Number of pages6
ISBN (Print)9781479939787
DOIs
Publication statusPublished - 2014 Jan 1
Event11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 - Tianjin, China
Duration: 2014 Aug 32014 Aug 6

Publication series

Name2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

Other

Other11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
CountryChina
CityTianjin
Period14/8/314/8/6

Keywords

  • human-robot coordination
  • passive robot
  • path tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'A passive dance robot with active coordination capability'. Together they form a unique fingerprint.

  • Cite this

    Liu, Z., Zhang, M., Xu, J., Zhu, Y., Hirata, Y., & Kosuge, K. (2014). A passive dance robot with active coordination capability. In 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 (pp. 686-691). [6885780] (2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014). IEEE Computer Society. https://doi.org/10.1109/ICMA.2014.6885780