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

Hongbo Wang, Kazuhiro Kosuge

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

8 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 languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3134-3140
Number of pages7
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

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

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

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

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