社交ダンスにおける人間とロボットとの力学的相互作用型協調運動システム [in Japanese] Human-Robot Cooperation with Physical Interaction for Ballroom Dance [in Japanese]
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A main purpose of our research is realizing an effective human-robot cooperation with physical interaction. In this paper, an architecture for the cooperation is proposed. As an example of the cooperation, ballroom dancing by a human and a robot is focused. And a dance partner robot referred to as "MS DanceR (Mobile Smart Dance Robot) " is developed. MS DanceR realizes a ballroom dance together with a human based on a control architecture referred to as "CAST (Control Architecture based-on Step Transition) ", which is designed according to features of ballroom dances. Experimental results illustate the validity of MS DanceR and its control architecture CAST.
JRSJ 25(1), 113-120, 2007-01-15
The Robotics Society of Japan