TY - GEN
T1 - Motion control of a passive robot for dancing with a male dancer
AU - Liu, Zhao
AU - Fu, Chenglong
AU - Chen, Ken
AU - Koike, Yoshinori
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2010
Y1 - 2010
N2 - A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible brake torque set was obtained, which is a subset of whole brake torque, this makes 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 with static equation, otherwise, the assistance force applied by male dancer is employed. Finally, non-time based path tracking control was proposed for dance step tracking. The motion control algorithm was verified by two typical dance steps, and experimental results demonstrated the validity.
AB - A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible brake torque set was obtained, which is a subset of whole brake torque, this makes 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 with static equation, otherwise, the assistance force applied by male dancer is employed. Finally, non-time based path tracking control was proposed for dance step tracking. The motion control algorithm was verified by two typical dance steps, and experimental results demonstrated the validity.
KW - Dance partner robot
KW - Non-time based path tracking
KW - Passive robot
KW - Servo brake
UR - http://www.scopus.com/inward/record.url?scp=77958125629&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77958125629&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2010.5554436
DO - 10.1109/WCICA.2010.5554436
M3 - Conference contribution
AN - SCOPUS:77958125629
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 6590
EP - 6595
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -