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 |
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| Title of host publication | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
| Pages | 1768-1773 |
| Number of pages | 6 |
| DOIs | |
| 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 |
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| ISSN (Print) | 1050-4729 |
Other
| Other | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
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| Country | 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
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Cite this
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 (pp. 1768-1773). [4209342] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363578