Motion Control of Passive Dance Partner Robot by Using Servo Brakes

摘要：

This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for Step Transition) for passive dance partner robot. This paper especially focuses on the Motion Generator in CAST. The Motion Generator controls the brake torque of each wheel with servo brake attached to the mobile base of the robot and realizes the ballroom dancing of the robot together with a human partner.

作者: Yasuhisa Hirata Yoshinori Koike Kazuhiro Kosuge

作者单位: Department of Bioengineering and Robotics Tohoku University 6-6-01,Aoba,Aramaki,Aoba-ku,Sendai 980-8579,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 104-109

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）