An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot

Hongbo Wang; Kazuhiro Kosuge

doi:10.1109/SII.2010.5708322

An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot

Hongbo Wang, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

A linear inverted pendulum (LIPM) is used to model the human dancer's body dynamics in closed changes. Several assumptions are made: a controller is proposed to balance the LIPM; the dance frame is considered as a spring-damper connection; the two dancers are assumed to choose support positions independently. Motions generated by the model are compared with human's real motions. Results of comparisons suggest the model and the assumptions are effective in reproducing human dancers' body dynamics in waltz. Issues in implementing the model on a dance partner robot are discussed.

Original language	English
Title of host publication	2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publication	SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages	182-187
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2010.5708322
Publication status	Published - 2010 Dec 1
Event	3rd International Symposium on System Integration, SII 2010 - Sendai, Japan Duration: 2010 Dec 21 → 2010 Dec 22

Publication series

Name	2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other	3rd International Symposium on System Integration, SII 2010
Country	Japan
City	Sendai
Period	10/12/21 → 10/12/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SII.2010.5708322

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Wang, H., & Kosuge, K. (2010). An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 182-187). [5708322] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708322

An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. / Wang, Hongbo; Kosuge, Kazuhiro.

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 182-187 5708322 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, H & Kosuge, K 2010, An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. in 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings., 5708322, 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, pp. 182-187, 3rd International Symposium on System Integration, SII 2010, Sendai, Japan, 10/12/21. https://doi.org/10.1109/SII.2010.5708322

Wang H, Kosuge K. An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 182-187. 5708322. (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708322

Wang, Hongbo ; Kosuge, Kazuhiro. / An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 182-187 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

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