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- Publisher Website: 10.1109/WCICA.2012.6359108
- Scopus: eid_2-s2.0-84872340680
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Conference Paper: Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction
| Title | Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction |
|---|---|
| Authors | |
| Keywords | extended Kalman filter attractor Physical human-robot interaction inverted pendulum |
| Issue Date | 2012 |
| Citation | Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2012, p. 3810-3815 How to Cite? |
| Abstract | Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader's state is estimated from range image data by using an extended Kalman filter. Parameters of the robot's orbit are then adjusted according to the leader's estimated and predicted state. The proposed method is verified by simulation results. © 2012 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302896 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Hongbo | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:47Z | - |
| dc.date.available | 2021-09-07T08:42:47Z | - |
| dc.date.issued | 2012 | - |
| dc.identifier.citation | Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2012, p. 3810-3815 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302896 | - |
| dc.description.abstract | Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader's state is estimated from range image data by using an extended Kalman filter. Parameters of the robot's orbit are then adjusted according to the leader's estimated and predicted state. The proposed method is verified by simulation results. © 2012 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | - |
| dc.subject | extended Kalman filter | - |
| dc.subject | attractor | - |
| dc.subject | Physical human-robot interaction | - |
| dc.subject | inverted pendulum | - |
| dc.title | Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/WCICA.2012.6359108 | - |
| dc.identifier.scopus | eid_2-s2.0-84872340680 | - |
| dc.identifier.spage | 3810 | - |
| dc.identifier.epage | 3815 | - |