Towards an understanding of dancers' coupled body dynamics for waltz

Hongbo Wang; Kazuhiro Kosuge

doi:10.1109/IROS.2011.6048333

Towards an understanding of dancers' coupled body dynamics for waltz

Hongbo Wang
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

5 Citations (Scopus)

Abstract

In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized motion, we analyze the stability of the physical interaction. Stable interaction with minimal interaction force is used as the criterion for optimal interaction, which is transformed into a quadratic programming problem and solved by gradient descent. Simulations and experiments show the proposed approach for analysis of the coupled dynamics is reasonable. © 2011 IEEE.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics
Pages	2008-2013
DOIs	https://doi.org/10.1109/IROS.2011.6048333
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, United States Duration: 25 Sept 2011 → 30 Sept 2011 https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Place	United States
City	San Francisco
Period	25/09/11 → 30/09/11
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding

Bibliographical note

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].

Research Keywords

dance partner robot
linear inverted pendulum
optimal physical interaction
Physical human-robot interaction

Access Output

10.1109/IROS.2011.6048333

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{80ad5d4f8d144e4c9f869a1e5a69b9c3,

title = "Towards an understanding of dancers' coupled body dynamics for waltz",

abstract = "In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized motion, we analyze the stability of the physical interaction. Stable interaction with minimal interaction force is used as the criterion for optimal interaction, which is transformed into a quadratic programming problem and solved by gradient descent. Simulations and experiments show the proposed approach for analysis of the coupled dynamics is reasonable. {\textcopyright} 2011 IEEE.",

keywords = "dance partner robot, linear inverted pendulum, optimal physical interaction, Physical human-robot interaction",

author = "Hongbo Wang and Kazuhiro Kosuge",

note = "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].; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

year = "2011",

doi = "10.1109/IROS.2011.6048333",

language = "English",

isbn = "9781612844541",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "2008--2013",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics",

url = "https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding",

}

Wang, H & Kosuge, K 2011, Towards an understanding of dancers' coupled body dynamics for waltz. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048333, IEEE International Conference on Intelligent Robots and Systems, pp. 2008-2013, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, California, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048333

Towards an understanding of dancers' coupled body dynamics for waltz. / Wang, Hongbo; Kosuge, Kazuhiro.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 2008-2013 6048333 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Towards an understanding of dancers' coupled body dynamics for waltz

AU - Wang, Hongbo

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 - 2011

Y1 - 2011

N2 - In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized motion, we analyze the stability of the physical interaction. Stable interaction with minimal interaction force is used as the criterion for optimal interaction, which is transformed into a quadratic programming problem and solved by gradient descent. Simulations and experiments show the proposed approach for analysis of the coupled dynamics is reasonable. © 2011 IEEE.

AB - In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized motion, we analyze the stability of the physical interaction. Stable interaction with minimal interaction force is used as the criterion for optimal interaction, which is transformed into a quadratic programming problem and solved by gradient descent. Simulations and experiments show the proposed approach for analysis of the coupled dynamics is reasonable. © 2011 IEEE.

KW - dance partner robot

KW - linear inverted pendulum

KW - optimal physical interaction

KW - Physical human-robot interaction

UR - https://www.scopus.com/pages/publications/84455167476

UR - https://www.scopus.com/pages/publications/84455167476#tab=impact

U2 - 10.1109/IROS.2011.6048333

DO - 10.1109/IROS.2011.6048333

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781612844541

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 2008

EP - 2013

BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

Towards an understanding of dancers' coupled body dynamics for waltz

Abstract

Publication series

Conference

Bibliographical note

Research Keywords

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this