Control algorithm of a passive dance partner robot

Zhao Liu, Ken Chen, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review


A motion control algorithm was developed to achieve harmonious dance between a man and a passive robot. The servo brake characteristics were analyzed to divide the motion into 8 states based on the kinematic model and control constraint conditions. A set of feasible brake torques was obtained, which is a subset of the entire possible brake torques, which makes control of the passive robot more complicated than general mobile robots. When the desired force is outside of the set, an assisting force from the human dancer is added. Finally, non-time based path tracking control was used for the dance step tracking. Tests using two Waltz steps show the validity of the control algorithm.

Original languageEnglish
Pages (from-to)254-257
Number of pages4
JournalQinghua Daxue Xuebao/Journal of Tsinghua University
Issue number2
Publication statusPublished - 2010 Feb


  • Dance partner robot
  • Passive robot
  • Path tracking
  • Servo brake
  • Waltz


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