Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction

Hongbo Wang, Kazuhiro Kosuge

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

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationWCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages3810-3815
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China
Duration: 2012 Jul 62012 Jul 8

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)

Other

Other10th World Congress on Intelligent Control and Automation, WCICA 2012
CountryChina
CityBeijing
Period12/7/612/7/8

Keywords

  • Physical human-robot interaction
  • attractor
  • extended Kalman filter
  • inverted pendulum

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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