Abstract
A motion control algorithm was developed to achieve harmonious dance between a man and a passive robot. The servo brake characteristics were analyzed to divide the motion into 8 states based on the kinematic model and control constraint conditions. A set of feasible brake torques was obtained, which is a subset of the entire possible brake torques, which makes control of the passive robot more complicated than general mobile robots. When the desired force is outside of the set, an assisting force from the human dancer is added. Finally, non-time based path tracking control was used for the dance step tracking. Tests using two Waltz steps show the validity of the control algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 254-257 |
| Number of pages | 4 |
| Journal | Qinghua Daxue Xuebao/Journal of Tsinghua University |
| Volume | 50 |
| Issue number | 2 |
| Publication status | Published - 2010 Feb |
Keywords
- Dance partner robot
- Passive robot
- Path tracking
- Servo brake
- Waltz
ASJC Scopus subject areas
- Engineering(all)
- Computer Science Applications
- Applied Mathematics