Title :
Dance partner robot - Ms DanceR
Author :
Kosuge, Kazuhiro ; Hayashi, Tomohiro ; Hirata, Yasuhisa ; Tobiyama, Ryosuke
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
We propose a dance partner robot referred to as Ms DanceR (Mobile Smart Dance Robot), which has been developed as platform for realizing the effective human-robot coordination with physical interaction. Ms DanceR consists of an omni-directional mobile base and a Body Force Sensor, which is a force/torque sensor installed between the mobile base and the body of the robot. A human could dance a ballroom dance together with Ms DanceR based on a control architecture referred to as "CAST" (Control Architecture based-on Step Transition), which was designed according to features of ballroom dances.
Keywords :
force sensors; humanities; man-machine systems; mobile robots; user interfaces; Control Architecture based on Step Transition; ballroom dance; body force sensor; dance partner robot; force/torque sensor; human-robot coordination; mobile smart dance robot; omni directional mobile base; Human robot interaction; Intelligent robots; Medical robotics; Mobile robots; Motion control; Positron emission tomography; Robot kinematics; Robot sensing systems; Seals; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249691
