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Paper WeC110.5

Wang, Hongbo (Tohoku University), Kosuge, Kazuhiro (Tohoku University)

Understanding and Reproducing Waltz Dancers' Body Dynamics in Physical Human-Robot Interaction

Scheduled for presentation during the Interactive Session "Interactive Session WeC-1" (WeC110), Wednesday, May 16, 2012, 14:30−15:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Physical Human-Robot Interaction, Robot Companions and Social 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.

 

 

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