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 |
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| Title of host publication | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
| Pages | 104-109 |
| Number of pages | 6 |
| DOIs | |
| 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 |
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| Country/Territory | China |
| City | Guilin |
| Period | 09/12/19 → 09/12/23 |
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Biomaterials