Control of a robot dancer for enhancing haptic human-robot interaction in waltz

Hongbo Wang; Kazuhiro Kosuge

doi:10.1109/TOH.2012.36

Control of a robot dancer for enhancing haptic human-robot interaction in waltz

Hongbo Wang, Kazuhiro Kosuge

Research output: Contribution to journal › Article › peer-review

38 Citations (Scopus)

Abstract

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

Original language	English
Article number	6231630
Pages (from-to)	264-273
Number of pages	10
Journal	IEEE Transactions on Haptics
Volume	5
Issue number	3
DOIs	https://doi.org/10.1109/TOH.2012.36
Publication status	Published - 2012
Externally published	Yes

Keywords

Physical/haptic human-robot interaction
admittance control
dance
extended Kalman filter
inverted pendulum
laser range finder

ASJC Scopus subject areas

Human-Computer Interaction
Computer Science Applications

Access to Document

10.1109/TOH.2012.36

Cite this

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title = "Control of a robot dancer for enhancing haptic human-robot interaction in waltz",

abstract = "Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.",

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author = "Hongbo Wang and Kazuhiro Kosuge",

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PY - 2012

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AB - Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

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Control of a robot dancer for enhancing haptic human-robot interaction in waltz

Abstract

Keywords

ASJC Scopus subject areas

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