HMM-based error recovery of dance step selection for dance partner robot

Takahiro Takeda; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/ROBOT.2007.363578

HMM-based error recovery of dance step selection for dance partner robot

Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

A dance partner robot has been developed as an example of platforms for realizing the effective human-robot coordination with physical interactions. This robot could dance together with a human by estimating the next step intended by the human. If the robot would mistake the step estimation, the human-robot coordination could not be continued. In this paper, an error recovery method for step selections, which changes robot's behavior according to human's behavior, is designed using Hidden Markov Models. Experimental results illustrate the validity of the proposed method.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	1768-1773
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363578
Publication status	Published - 2007 Nov 27
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

Keywords

Ballroom dances
Error recovery of dance step selection
Human-robot cooperation
Mobile robot

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.363578

Cite this

HMM-based error recovery of dance step selection for dance partner robot. / Takeda, Takahiro; Hirata, Yasuhisa; Kosuge, Kazuhiro.

2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 1768-1773 4209342 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takeda, T, Hirata, Y & Kosuge, K 2007, HMM-based error recovery of dance step selection for dance partner robot. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209342, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1768-1773, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363578

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title = "HMM-based error recovery of dance step selection for dance partner robot",

abstract = "A dance partner robot has been developed as an example of platforms for realizing the effective human-robot coordination with physical interactions. This robot could dance together with a human by estimating the next step intended by the human. If the robot would mistake the step estimation, the human-robot coordination could not be continued. In this paper, an error recovery method for step selections, which changes robot's behavior according to human's behavior, is designed using Hidden Markov Models. Experimental results illustrate the validity of the proposed method.",

keywords = "Ballroom dances, Error recovery of dance step selection, Human-robot cooperation, Mobile robot",

author = "Takahiro Takeda and Yasuhisa Hirata and Kazuhiro Kosuge",

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KW - Mobile robot

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HMM-based error recovery of dance step selection for dance partner robot

Abstract

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Keywords

ASJC Scopus subject areas

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