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- Publisher Website: 10.1109/ICMA.2015.7237662
- Scopus: eid_2-s2.0-84955324813
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Conference Paper: Design of a Male-type Dance Partner Robot for leading a physical Human-Robot Interaction
Title | Design of a Male-type Dance Partner Robot for leading a physical Human-Robot Interaction |
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Authors | |
Keywords | dance robot robotic system design Physical human-robot interaction holonomic mobile robot human body motion analysis |
Issue Date | 2015 |
Citation | 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, p. 1234-1240 How to Cite? |
Abstract | This paper presents an ongoing research project on developing a Male-type Dance Partner Robot, introducing a novel concept: leading in a physical Human-Robot Interaction (pHRI), under a social dance framework. Initially it is described the analysis performed to extract a minimal number of Degrees of Freedom (DOF) needed for a robot to perform a Humanlike motion in the waltz dance. Subsequently using a robot prototype, pHRI experiments were used to determine the minimal force required to convey the motion intention from the robot to the human partner. Mechanical design of each joint and mechanism was performed based on these data. Finally the prototype design was constructed and compared with existent ones through simulation and CAD software showing advantages with existing ones on the physical structure, force interaction capabilities, and novel motion. |
Persistent Identifier | http://hdl.handle.net/10722/302940 |
DC Field | Value | Language |
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dc.contributor.author | Paez Granados, Diego Felipe | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:53Z | - |
dc.date.available | 2021-09-07T08:42:53Z | - |
dc.date.issued | 2015 | - |
dc.identifier.citation | 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, p. 1234-1240 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302940 | - |
dc.description.abstract | This paper presents an ongoing research project on developing a Male-type Dance Partner Robot, introducing a novel concept: leading in a physical Human-Robot Interaction (pHRI), under a social dance framework. Initially it is described the analysis performed to extract a minimal number of Degrees of Freedom (DOF) needed for a robot to perform a Humanlike motion in the waltz dance. Subsequently using a robot prototype, pHRI experiments were used to determine the minimal force required to convey the motion intention from the robot to the human partner. Mechanical design of each joint and mechanism was performed based on these data. Finally the prototype design was constructed and compared with existent ones through simulation and CAD software showing advantages with existing ones on the physical structure, force interaction capabilities, and novel motion. | - |
dc.language | eng | - |
dc.relation.ispartof | 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 | - |
dc.subject | dance robot | - |
dc.subject | robotic system design | - |
dc.subject | Physical human-robot interaction | - |
dc.subject | holonomic mobile robot | - |
dc.subject | human body motion analysis | - |
dc.title | Design of a Male-type Dance Partner Robot for leading a physical Human-Robot Interaction | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICMA.2015.7237662 | - |
dc.identifier.scopus | eid_2-s2.0-84955324813 | - |
dc.identifier.spage | 1234 | - |
dc.identifier.epage | 1240 | - |