Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot

Diego Felipe Paez Granados, Jun Kinugawa, Yasuhisa Hirata, Kazuhiro Kosuge

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

8 Citations (Scopus)

Abstract

This paper presents an approach for robot leading in physical human-robot interaction during dance training and support with a mobile humanoid robot. In this highly coupled physical interaction, we convey the direction of motion by varying the center of mass (COM) elevation. This method increases the human partner's dependency on the robot for stability, allowing the robot to guide the interaction. To achieve a human-like leading, we based the robot control on an impedance behavior while following a desired trajectory. In experimental tests, the COM control improved the understanding of motion direction from 70% to 90%. Moreover, it reduced the interaction forces by 10N (on average) during the guidance. We conclude that the COM control enhances the synchronization of the moving human-robot couple, and encourages humanlike behavior of the humanoid robot. Consequently, the human partner can better understand the humanoid robot, especially when the robot takes the leading role.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages279-285
Number of pages7
ISBN (Electronic)9781509047185
DOIs
Publication statusPublished - 2016 Dec 30
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 2016 Nov 152016 Nov 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
CountryMexico
CityCancun
Period16/11/1516/11/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Granados, D. F. P., Kinugawa, J., Hirata, Y., & Kosuge, K. (2016). Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 279-285). [7803289] (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803289