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 -