TY - GEN
T1 - Towards an understanding of dancers' coupled body dynamics for waltz
AU - Wang, Hongbo
AU - Kosuge, Kazuhiro
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
KW - Physical human-robot interaction
KW - dance partner robot
KW - linear inverted pendulum
KW - optimal physical interaction
UR - http://www.scopus.com/inward/record.url?scp=84455167476&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455167476&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048333
DO - 10.1109/IROS.2011.6048333
M3 - Conference contribution
AN - SCOPUS:84455167476
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2008
EP - 2013
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -