Collision avoidance based on estimated step of other dance couples for male-type dance partner robot

Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper discusses advanced human-robot coordination systems. In order to realize the coordination, robots have to behave as not only followers but also leaders when they execute tasks with humans. As an example of the advanced human-robot coordination systems, a male-type dance partner robot is developed, which behaves as a male dancer and executes ballroom dances with a human. In ballroom dances, a male dancer leads a female dancer, and selects the next step based on the information such as the relative position between themselves and other dance couples, their positions in the dance floor, and so on. This paper addresses the step selection problems, which contains collision avoidances with other dance couples. Hidden Markov Models are used to estimate their dance step trajectories. Experiments and simulations are performed to illustrate the validity of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ページ3264-3269
ページ数6
DOI
出版ステータスPublished - 2007 12 1
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

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

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