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

Hongbo Wang, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages182-187
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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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