Step estimation method for dance partner robot "MS DanceR" using neural network
Step estimation method for dance partner robot "MS DanceR" using neural network
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DOI：
10.1109/robio.2005.246322
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发表时间：
2005-07
期刊：
影响因子：
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通讯作者：
Y. Hirata;Tomohiro Hayashi;T. Takeda;K. Kosuge;Z. Wang
中科院分区：
文献类型：
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作者：
Y. Hirata;Tomohiro Hayashi;T. Takeda;K. Kosuge;Z. Wang
在本文中，我们提出了一种舞伴机器人，称为MS DanceR（移动智能舞蹈机器人），它已被开发为实现人机有效协调和物理交互的平台。MS DanceR由全向移动基座和体力传感器组成，体力传感器是安装在移动基座和机器人体之间的力/扭矩传感器。基于一种称为CAST（基于步骤转换的控制体系结构）的控制体系结构，人类可以与MS DanceR一起跳交际舞，其中使用神经网络设计了舞步的估计方法。将CAST应用于MS DanceR上，实验了一个人与MS DanceR一起跳华尔兹
In this paper, 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 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), in which the estimation method for the dance step is designed using neural network. CAST is applied to MS DanceR and a human dances a waltz together with MS DanceR experimentally