TY - GEN
T1 - Development of a passive type dance partner robot
AU - Liu, Zhao
AU - Koike, Yoshinori
AU - Takeda, Takahiro
AU - Hirata, Yasuhisa
AU - Chen, Ken
AU - Kosuge, Kazuhiro
PY - 2008
Y1 - 2008
N2 - In this paper, a passive type dance partner robot referred to as PDR (Passive Dance Robot) is presented to realize ballroom dances in cooperation with a human. PDR is developed based on the concept of passive robotics. Compared to the active type robot actuated by servo motors, the passive type robot can guarantee higher level of safety, since this kind of robot moves passively based on the force applied by human operator without using the actuators, thus unexpected motion due to out of control will not happen. In this paper, the locations of the wheels are determined by analyzing the trajectories of the male dancer's feet. The dynamic manipulability is utilized to analyze the acceleration capability of PDR; the best orientations of the wheels will be determined by maximizing the ratio of the minimum and maximum radius of the dynamic manipulability ellipsoid. Finally a prototype is built, which consists of three Omni-directional wheels with servo brakes and on-board computer system.
AB - In this paper, a passive type dance partner robot referred to as PDR (Passive Dance Robot) is presented to realize ballroom dances in cooperation with a human. PDR is developed based on the concept of passive robotics. Compared to the active type robot actuated by servo motors, the passive type robot can guarantee higher level of safety, since this kind of robot moves passively based on the force applied by human operator without using the actuators, thus unexpected motion due to out of control will not happen. In this paper, the locations of the wheels are determined by analyzing the trajectories of the male dancer's feet. The dynamic manipulability is utilized to analyze the acceleration capability of PDR; the best orientations of the wheels will be determined by maximizing the ratio of the minimum and maximum radius of the dynamic manipulability ellipsoid. Finally a prototype is built, which consists of three Omni-directional wheels with servo brakes and on-board computer system.
KW - Ball-room dance
KW - Human-robot cooperation
KW - MR brake
KW - Manipulability
KW - Mobile robot
KW - Passive robotics
UR - http://www.scopus.com/inward/record.url?scp=52449116726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449116726&partnerID=8YFLogxK
U2 - 10.1109/AIM.2008.4601810
DO - 10.1109/AIM.2008.4601810
M3 - Conference contribution
AN - SCOPUS:52449116726
SN - 9781424424955
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1070
EP - 1075
BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Y2 - 2 August 2008 through 5 August 2008
ER -