A new control algorithm for a passive type dance partner robot

Zhao Liu, Chenglong Fu, Ken Chen, Yoshinori Koike, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the motion was divided into 8 states. Then the set of feasible brake torque was analyzed, which is a subset of whole brake torque, this makes the control of passive type robot more complicated than general mobile robots. When the desired force is within this set, the brake torque for each wheel can be derived by static equation, otherwise, the assistance force applied by male dancer is employed. Considering the passivity of PDR, non-time based path tracking control was proposed for dance step tracking, and a fast orthogonal projection algorithm was proposed to achieve non-time based control. Experimental results illustrated the validity of the proposed concept.

Original languageEnglish
Title of host publication2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
Pages486-491
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2010 - Singapore, Singapore
Duration: 2010 Jun 282010 Jun 30

Publication series

Name2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010

Conference

Conference2010 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2010
Country/TerritorySingapore
CitySingapore
Period10/6/2810/6/30

Keywords

  • Dance partner robot
  • Non-time based path tracking
  • Passive robot
  • Servo brake

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