著者

小池 良典 平田 泰久 小菅 一弘

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp._1A2-D18_1-_1A2-D18_2, 2009

被引用文献数

1

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In this research, we develop a Passive Dance partner Robot (PDR) for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, 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. In this paper, we propose a motion control algorithm of the PDR for realizing the ballroom dance with a male dancer based on the estimation of the next dance step intended by him.