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

Hongbo Wang, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

38 Citations (Scopus)


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 languageEnglish
Article number6231630
Pages (from-to)264-273
Number of pages10
JournalIEEE Transactions on Haptics
Issue number3
Publication statusPublished - 2012
Externally publishedYes


  • 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


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