Generating Performance Motions of Humanoid Robot for Entertainment

This paper presents the development of generating dance performances of humanoid robot, HSR (HanSaRam)-VII, synchronized with Robonova, for entertainment. This heterogeneous team, RoboBees, participated in ´Robots at Play Award 2006´ and nominated as one of top six teams in the world. A method of generating and combining both periodic motion (on-line pattern generator) and aperiodic motion (off-line pattern generator) is investigated along with the control architecture for HSR-VII. Detailed system descriptions of two types of humanoid robots, HSR-VII from KAIST and Robonova from miniROBOT Corp., are included with the experimental results. In addition, the time domain passivity compliance control system is introduced to guarantee the stable periodic motion by changing the initial planned trajectories. Video clip of RoboBees´ performance is available at http://rit.kaist.ac.kr.