NDLI: Towards an understanding of dancers' coupled body dynamics for waltz

Content Provider	IEEE Xplore Digital Library
Author	Hongbo Wang Kosuge, K.
Copyright Year	2011
Description	Author affiliation: Department of Bioengineering and Robotics, Tohoku University, 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan (Hongbo Wang; Kosuge, K.)
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.
Starting Page	2008
Ending Page	2013
File Size	350059
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094655
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Dynamics Humans Force Robot kinematics Trajectory Biological system modeling optimal physical interaction Physical human-robot interaction dance partner robot linear inverted pendulum
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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