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Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz
Third Quarter 2012 (vol. 5 no. 3)
pp. 264-273
ASCII Text
x 
 
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.
 
 
BibTex
x
 
@article{ 10.1109/TOH.2012.36,
author = {Hongbo Wang and Kazuhiro Kosuge},
title = {Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz},
journal ={IEEE Transactions on Haptics},
volume = {5},
number = {3},
issn = {1939-1412},
year = {2012},
pages = {264-273},
doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2012.36},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Haptics
TI - Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz
IS - 3
SN - 1939-1412
SP264
EP273
EPD - 264-273
A1 - Hongbo Wang,
A1 - Kazuhiro Kosuge,
PY - 2012
KW - Humans
KW - Lead
KW - Hidden Markov models
KW - Robot kinematics
KW - Force
KW - Robot sensing systems
KW - admittance control.
KW - Physical/haptic human-robot interaction
KW - dance
KW - inverted pendulum
KW - extended Kalman filter
KW - laser range finder
VL - 5
JA - IEEE Transactions on Haptics
ER -
 
Hongbo Wang, Tohoku University, Sendai
Kazuhiro Kosuge, Tohoku University, Sendai
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.

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Index Terms:
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
Citation:
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
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