Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction

Hongbo Wang; Kazuhiro Kosuge

doi:10.1109/ICRA.2012.6224862

Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction

Hongbo Wang, Kazuhiro Kosuge

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

9 Citations (Scopus)

Abstract

A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the interaction force; because in simulation the theoretically optimal feedback gain is sensitive to measurement noise, another set of empirical gains are used and proved to be effective in experiments.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3134-3140
Number of pages	7
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224862
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 2012 May 14 → 2012 May 18

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	12/5/14 → 12/5/18

Keywords

Physical human-robot interaction
dance partner robot
laser ranger finder
linear inverted pendulum
poly-quadratic stability

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6224862

Cite this

Wang, H., & Kosuge, K. (2012). Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3134-3140). [6224862] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224862

Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction. / Wang, Hongbo; Kosuge, Kazuhiro.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3134-3140 6224862 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Wang, H & Kosuge, K 2012, Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224862, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3134-3140, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 12/5/14. https://doi.org/10.1109/ICRA.2012.6224862

Wang H, Kosuge K. Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3134-3140. 6224862. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2012.6224862

@inproceedings{949e4977b40246b8ae3f78db323a6ecb,

title = "Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction",

abstract = "A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the interaction force; because in simulation the theoretically optimal feedback gain is sensitive to measurement noise, another set of empirical gains are used and proved to be effective in experiments.",

keywords = "Physical human-robot interaction, dance partner robot, laser ranger finder, linear inverted pendulum, poly-quadratic stability",

author = "Hongbo Wang and Kazuhiro Kosuge",

year = "2012",

doi = "10.1109/ICRA.2012.6224862",

language = "English",

isbn = "9781467314039",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3134--3140",

booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",

note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",

}

TY - GEN

T1 - Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction

AU - Wang, Hongbo

AU - Kosuge, Kazuhiro

PY - 2012

Y1 - 2012

N2 - A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the interaction force; because in simulation the theoretically optimal feedback gain is sensitive to measurement noise, another set of empirical gains are used and proved to be effective in experiments.

AB - A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the interaction force; because in simulation the theoretically optimal feedback gain is sensitive to measurement noise, another set of empirical gains are used and proved to be effective in experiments.

KW - Physical human-robot interaction

KW - dance partner robot

KW - laser ranger finder

KW - linear inverted pendulum

KW - poly-quadratic stability

UR - http://www.scopus.com/inward/record.url?scp=84864447308&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84864447308&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2012.6224862

DO - 10.1109/ICRA.2012.6224862

M3 - Conference contribution

AN - SCOPUS:84864447308

SN - 9781467314039

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3134

EP - 3140

BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

Y2 - 14 May 2012 through 18 May 2012

ER -

Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this