TY - GEN
T1 - HMM-based dance step estimation for dance partner robot -MS DanceR-
AU - Takeda, Takahiro
AU - Kosuge, Kazuhiro
AU - Hirata, Yasuhisa
PY - 2005
Y1 - 2005
N2 - We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In this paper, especially, we improve an estimation system for dance steps, which estimates a next dance step intended by a human. For estimating the dance step, time series data of force/moment applied by a human to the robot are utilized. The time series data of force/moment measured during dancing by a human and the robot include the uncertainty such as time-lag and variations for each repeated trial, because a human can not always apply the same force/moment to the robot exactly. In order to treat the time series data including such uncertainty, Hidden Markov Models are utilized for designing the dance step estimation system. With the proposed system, the robot estimates a next dance step based on human intention successfully.
AB - We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In this paper, especially, we improve an estimation system for dance steps, which estimates a next dance step intended by a human. For estimating the dance step, time series data of force/moment applied by a human to the robot are utilized. The time series data of force/moment measured during dancing by a human and the robot include the uncertainty such as time-lag and variations for each repeated trial, because a human can not always apply the same force/moment to the robot exactly. In order to treat the time series data including such uncertainty, Hidden Markov Models are utilized for designing the dance step estimation system. With the proposed system, the robot estimates a next dance step based on human intention successfully.
KW - Ballroom dances
KW - Dance step estimation
KW - Hidden Markov Models
KW - Human intention
KW - Mobile robot
UR - http://www.scopus.com/inward/record.url?scp=34250681988&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250681988&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545207
DO - 10.1109/IROS.2005.1545207
M3 - Conference contribution
AN - SCOPUS:34250681988
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3245
EP - 3250
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -