TY - GEN
T1 - Design of a Male-type Dance Partner Robot for leading a physical Human-Robot Interaction
AU - Paez Granados, Diego Felipe
AU - Kosuge, Kazuhiro
PY - 2015/9/2
Y1 - 2015/9/2
N2 - 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.
AB - 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.
KW - Physical human-robot interaction
KW - dance robot
KW - holonomic mobile robot
KW - human body motion analysis
KW - robotic system design
UR - http://www.scopus.com/inward/record.url?scp=84955324813&partnerID=8YFLogxK
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U2 - 10.1109/ICMA.2015.7237662
DO - 10.1109/ICMA.2015.7237662
M3 - Conference contribution
AN - SCOPUS:84955324813
T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
SP - 1234
EP - 1240
BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Y2 - 2 August 2015 through 5 August 2015
ER -