Step estimation method for dance partner robot "MS DanceR" using neural network

Abstract

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