Towards an understanding of dancers' coupled body dynamics for waltz

Hongbo Wang, Kazuhiro Kosuge

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

5 Citations (Scopus)

Abstract

In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized motion, we analyze the stability of the physical interaction. Stable interaction with minimal interaction force is used as the criterion for optimal interaction, which is transformed into a quadratic programming problem and solved by gradient descent. Simulations and experiments show the proposed approach for analysis of the coupled dynamics is reasonable.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2008-2013
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

Keywords

  • Physical human-robot interaction
  • dance partner robot
  • linear inverted pendulum
  • optimal physical interaction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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