Dance partner robot cooperative motion generation with adjustable length of dance step stride based on physical interaction

As an example of platforms for realizing the effective human-robot coordination with physical interactions, a dance partner robot has been developed, which could dance together with a human by estimating the next dance step intended by the human. Generating robot´s active motion so as to be adapted to its user could be one of essential functions in the next generation robotic technology. This paper proposes the cooperative motion generation method for the robot, which is implemented by adjusting length of dance step stride based on physical interaction between the human and the robot. Experimental results illustrate the validity of the proposed method.