Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human´s body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader´s state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.