TY - GEN
T1 - Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction
AU - Wang, Hongbo
AU - Kosuge, Kazuhiro
PY - 2012
Y1 - 2012
N2 - Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader's state is estimated from range image data by using an extended Kalman filter. Parameters of the robot's orbit are then adjusted according to the leader's estimated and predicted state. The proposed method is verified by simulation results.
AB - Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader's state is estimated from range image data by using an extended Kalman filter. Parameters of the robot's orbit are then adjusted according to the leader's estimated and predicted state. The proposed method is verified by simulation results.
KW - Physical human-robot interaction
KW - attractor
KW - extended Kalman filter
KW - inverted pendulum
UR - http://www.scopus.com/inward/record.url?scp=84872340680&partnerID=8YFLogxK
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U2 - 10.1109/WCICA.2012.6359108
DO - 10.1109/WCICA.2012.6359108
M3 - Conference contribution
AN - SCOPUS:84872340680
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3810
EP - 3815
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -