TY - GEN
T1 - A new control algorithm for a passive type dance partner robot
AU - Liu, Zhao
AU - Fu, Chenglong
AU - Chen, Ken
AU - Koike, Yoshinori
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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=77955700163&partnerID=8YFLogxK
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U2 - 10.1109/RAMECH.2010.5513144
DO - 10.1109/RAMECH.2010.5513144
M3 - Conference contribution
AN - SCOPUS:77955700163
SN - 9781424465033
T3 - 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
SP - 486
EP - 491
BT - 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
T2 - 2010 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2010
Y2 - 28 June 2010 through 30 June 2010
ER -