IEEE ICRA'07 Digest Template

1
HMM-based Error Recovery of Dance Step Selection
for Dance Partner Robot
Takahiro Takeda, Yasuhisa Hirata, and Kazuhiro
Kosuge Department of Bioengineering and
Robotics, Tohoku University, Sendai, Japan

• A dance partner robot has been developed as a
  platform for realizing the effective human-robot
  coordination with physical interaction
• Error recovery method for dance step selections
  changes robots dancing behavior in the case that
  the robot selects an incorrect dance step
• Time series data of force/moment and human
  dancing motions are modeled by Hidden Markov
  Models

Dance Partner Robot