TY - GEN
T1 - An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot
AU - Wang, Hongbo
AU - Kosuge, Kazuhiro
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79952782064&partnerID=8YFLogxK
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U2 - 10.1109/SII.2010.5708322
DO - 10.1109/SII.2010.5708322
M3 - Conference contribution
AN - SCOPUS:79952782064
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 182
EP - 187
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -