Issue No.03 - Third Quarter (2012 vol.5)
Hongbo Wang , Tohoku University, Sendai
Kazuhiro Kosuge , Tohoku University, Sendai
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2012.36
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.
Humans, Lead, Hidden Markov models, Robot kinematics, Force, Robot sensing systems, admittance control., Physical/haptic human-robot interaction, dance, inverted pendulum, extended Kalman filter, laser range finder
Hongbo Wang, Kazuhiro Kosuge, "Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz", IEEE Transactions on Haptics, vol.5, no. 3, pp. 264-273, Third Quarter 2012, doi:10.1109/TOH.2012.36