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

Hongbo Wang; Kazuhiro Kosuge

doi:10.1109/WCICA.2012.6359108

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

Hongbo Wang, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages	3810-3815
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2012.6359108
Publication status	Published - 2012 Dec 1
Event	10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China Duration: 2012 Jul 6 → 2012 Jul 8

Publication series

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

Other

Other	10th World Congress on Intelligent Control and Automation, WCICA 2012
Country	China
City	Beijing
Period	12/7/6 → 12/7/8

Keywords

Physical human-robot interaction
attractor
extended Kalman filter
inverted pendulum

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

Access to Document

10.1109/WCICA.2012.6359108

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Cite this

Wang, H., & Kosuge, K. (2012). Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction. In WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation (pp. 3810-3815). [6359108] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2012.6359108

Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction. / Wang, Hongbo; Kosuge, Kazuhiro.

WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation. 2012. p. 3810-3815 6359108 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

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

Wang, H & Kosuge, K 2012, Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction. in WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation., 6359108, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 3810-3815, 10th World Congress on Intelligent Control and Automation, WCICA 2012, Beijing, China, 12/7/6. https://doi.org/10.1109/WCICA.2012.6359108

Wang H, Kosuge K. Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction. In WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation. 2012. p. 3810-3815. 6359108. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2012.6359108

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