TY - GEN
T1 - A passive dance robot with active coordination capability
AU - Liu, Zhao
AU - Zhang, Ming
AU - Xu, Jing
AU - Zhu, Yu
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2014
Y1 - 2014
N2 - Human-robot coordination system is one feasible solution for a robot to assist human to conduct tasks. The most important specification is safety, especially for the system with physical interaction. To solve this problem, we developed a passive dance robot to perform ballroom dances in cooperation with a human. The paper aims to study the human-robot coordination via a passive dance robot installed with servo brakes rather than servo motors usually in active robot. The motion of passive robot is usually driven by human force. To this end, the dynamic manipulability was utilized to optimize the structure design and analyze the acceleration capability, leading to reduced human burden. Further, the non-time based path tracking algorithm was proposed. To realize non-time based control, a fast orthogonal projection algorithm was proposed. Experiments were carried out to verify the proposed methods in this paper. © 2014 IEEE.
AB - Human-robot coordination system is one feasible solution for a robot to assist human to conduct tasks. The most important specification is safety, especially for the system with physical interaction. To solve this problem, we developed a passive dance robot to perform ballroom dances in cooperation with a human. The paper aims to study the human-robot coordination via a passive dance robot installed with servo brakes rather than servo motors usually in active robot. The motion of passive robot is usually driven by human force. To this end, the dynamic manipulability was utilized to optimize the structure design and analyze the acceleration capability, leading to reduced human burden. Further, the non-time based path tracking algorithm was proposed. To realize non-time based control, a fast orthogonal projection algorithm was proposed. Experiments were carried out to verify the proposed methods in this paper. © 2014 IEEE.
KW - human-robot coordination
KW - passive robot
KW - path tracking
UR - http://www.scopus.com/inward/record.url?scp=84906972099&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84906972099&origin=recordpage
U2 - 10.1109/ICMA.2014.6885780
DO - 10.1109/ICMA.2014.6885780
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781479939787
T3 - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
SP - 686
EP - 691
BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Y2 - 3 August 2014 through 6 August 2014
ER -