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- Publisher Website: 10.1109/TOH.2012.36
- Scopus: eid_2-s2.0-84864945077
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Article: Control of a robot dancer for enhancing haptic human-robot interaction in waltz
| Title | Control of a robot dancer for enhancing haptic human-robot interaction in waltz |
|---|---|
| Authors | |
| Keywords | laser range finder extended Kalman filter Physical/haptic human-robot interaction admittance control inverted pendulum dance |
| Issue Date | 2012 |
| Citation | IEEE Transactions on Haptics, 2012, v. 5, n. 3, p. 264-273 How to Cite? |
| Abstract | Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results. © 2008-2011 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302889 |
| ISSN | 2023 Impact Factor: 2.4 2023 SCImago Journal Rankings: 0.896 |
| ISI Accession Number ID |
| 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 | IEEE Transactions on Haptics, 2012, v. 5, n. 3, p. 264-273 | - |
| dc.identifier.issn | 1939-1412 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302889 | - |
| dc.description.abstract | Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results. © 2008-2011 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE Transactions on Haptics | - |
| dc.subject | laser range finder | - |
| dc.subject | extended Kalman filter | - |
| dc.subject | Physical/haptic human-robot interaction | - |
| dc.subject | admittance control | - |
| dc.subject | inverted pendulum | - |
| dc.subject | dance | - |
| dc.title | Control of a robot dancer for enhancing haptic human-robot interaction in waltz | - |
| dc.type | Article | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/TOH.2012.36 | - |
| dc.identifier.scopus | eid_2-s2.0-84864945077 | - |
| dc.identifier.volume | 5 | - |
| dc.identifier.issue | 3 | - |
| dc.identifier.spage | 264 | - |
| dc.identifier.epage | 273 | - |
| dc.identifier.isi | WOS:000307452300008 | - |