Motion control of passive dance partner robot by using servo brakes

Yasuhisa Hirata; Yoshinori Koike; Kazuhiro Kosuge

doi:10.1109/ROBIO.2009.5420641

Motion control of passive dance partner robot by using servo brakes

Yasuhisa Hirata, Yoshinori Koike, Kazuhiro Kosuge

ENG - Robotics

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

3 Citations (Scopus)

Abstract

This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for Step Transition) for passive dance partner robot. This paper especially focuses on the Motion Generator in CAST. The Motion Generator controls the brake torque of each wheel with servo brake attached to the mobile base of the robot and realizes the ballroom dancing of the robot together with a human partner.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	104-109
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420641
Publication status	Published - 2009 Dec 1
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 2009 Dec 19 → 2009 Dec 23

Other

Other	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country	China
City	Guilin
Period	09/12/19 → 09/12/23

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Biomaterials

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abstract = "This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for Step Transition) for passive dance partner robot. This paper especially focuses on the Motion Generator in CAST. The Motion Generator controls the brake torque of each wheel with servo brake attached to the mobile base of the robot and realizes the ballroom dancing of the robot together with a human partner.",

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AU - Koike, Yoshinori

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AB - This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for Step Transition) for passive dance partner robot. This paper especially focuses on the Motion Generator in CAST. The Motion Generator controls the brake torque of each wheel with servo brake attached to the mobile base of the robot and realizes the ballroom dancing of the robot together with a human partner.

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BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

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