TY - GEN
T1 - HMM-based error recovery of dance step selection for dance partner robot
AU - Takeda, Takahiro
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2007/11/27
Y1 - 2007/11/27
N2 - 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.
AB - 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.
KW - Ballroom dances
KW - Error recovery of dance step selection
KW - Human-robot cooperation
KW - Mobile robot
UR - http://www.scopus.com/inward/record.url?scp=36348991967&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348991967&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363578
DO - 10.1109/ROBOT.2007.363578
M3 - Conference contribution
AN - SCOPUS:36348991967
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1768
EP - 1773
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -