Development of a passive type dance partner robot

Zhao Liu, Yoshinori Koike, Takahiro Takeda, Yasuhisa Hirata, Ken Chen, Kazuhiro Kosuge

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

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages1070-1075
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: 2008 Aug 22008 Aug 5

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
CountryChina
CityXi'an
Period08/8/208/8/5

Keywords

  • Ball-room dance
  • Human-robot cooperation
  • MR brake
  • Manipulability
  • Mobile robot
  • Passive robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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