Motion control of a passive robot for dancing with a male dancer

Zhao Liu, Chenglong Fu, Ken Chen, Yoshinori Koike, Yasuhisa Hirata, Kazuhiro Kosuge

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

Abstract

A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible brake torque set was obtained, which is a subset of whole brake torque, this makes control of passive type robot more complicated than general mobile robots. When the desired force is within this set, the brake torque for each wheel can be derived with static equation, otherwise, the assistance force applied by male dancer is employed. Finally, non-time based path tracking control was proposed for dance step tracking. The motion control algorithm was verified by two typical dance steps, and experimental results demonstrated the validity.

Original languageEnglish
Title of host publication2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Pages6590-6595
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 8th World Congress on Intelligent Control and Automation, WCICA 2010 - Jinan, China
Duration: 2010 Jul 72010 Jul 9

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)

Other

Other2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
CountryChina
CityJinan
Period10/7/710/7/9

Keywords

  • Dance partner robot
  • Non-time based path tracking
  • Passive robot
  • Servo brake

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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