Collision avoidance based on estimated step of other dance couples for male-type dance partner robot

Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

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

3 Citations (Scopus)

Abstract

This paper discusses advanced human-robot coordination systems. In order to realize the coordination, robots have to behave as not only followers but also leaders when they execute tasks with humans. As an example of the advanced human-robot coordination systems, a male-type dance partner robot is developed, which behaves as a male dancer and executes ballroom dances with a human. In ballroom dances, a male dancer leads a female dancer, and selects the next step based on the information such as the relative position between themselves and other dance couples, their positions in the dance floor, and so on. This paper addresses the step selection problems, which contains collision avoidances with other dance couples. Hidden Markov Models are used to estimate their dance step trajectories. Experiments and simulations are performed to illustrate the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3264-3269
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

Keywords

  • Ballroom dances
  • Behavior decision
  • Dance step selections
  • Leader-type partner robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Sakai, Y., Takeda, T., Hirata, Y., & Kosuge, K. (2007). Collision avoidance based on estimated step of other dance couples for male-type dance partner robot. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3264-3269). [4399290] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399290