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- Publisher Website: 10.1109/ICRA.2012.6224862
- Scopus: eid_2-s2.0-84864447308
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Conference Paper: Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction
| Title | Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction |
|---|---|
| Authors | |
| Keywords | linear inverted pendulum poly-quadratic stability laser ranger finder dance partner robot Physical human-robot interaction |
| Issue Date | 2012 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2012, p. 3134-3140 How to Cite? |
| 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. © 2012 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302888 |
| ISSN | 2023 SCImago Journal Rankings: 1.620 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Hongbo | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:46Z | - |
| dc.date.available | 2021-09-07T08:42:46Z | - |
| dc.date.issued | 2012 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2012, p. 3134-3140 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302888 | - |
| dc.description.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. © 2012 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.subject | linear inverted pendulum | - |
| dc.subject | poly-quadratic stability | - |
| dc.subject | laser ranger finder | - |
| dc.subject | dance partner robot | - |
| dc.subject | Physical human-robot interaction | - |
| dc.title | Understanding and reproducing waltz dancers' body dynamics in physical human-robot interaction | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ICRA.2012.6224862 | - |
| dc.identifier.scopus | eid_2-s2.0-84864447308 | - |
| dc.identifier.spage | 3134 | - |
| dc.identifier.epage | 3140 | - |