Design of a Male-type Dance Partner Robot for leading a physical Human-Robot Interaction

Diego Felipe Paez Granados, Kazuhiro Kosuge

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

4 Citations (Scopus)

Abstract

This paper presents an ongoing research project on developing a Male-type Dance Partner Robot, introducing a novel concept: leading in a physical Human-Robot Interaction (pHRI), under a social dance framework. Initially it is described the analysis performed to extract a minimal number of Degrees of Freedom (DOF) needed for a robot to perform a Humanlike motion in the waltz dance. Subsequently using a robot prototype, pHRI experiments were used to determine the minimal force required to convey the motion intention from the robot to the human partner. Mechanical design of each joint and mechanism was performed based on these data. Finally the prototype design was constructed and compared with existent ones through simulation and CAD software showing advantages with existing ones on the physical structure, force interaction capabilities, and novel motion.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1234-1240
Number of pages7
ISBN (Electronic)9781479970964
DOIs
Publication statusPublished - 2015 Sep 2
Event12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China
Duration: 2015 Aug 22015 Aug 5

Publication series

Name2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Other

Other12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
CountryChina
CityBeijing
Period15/8/215/8/5

Keywords

  • Physical human-robot interaction
  • dance robot
  • holonomic mobile robot
  • human body motion analysis
  • robotic system design

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Mechanical Engineering

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