Human-Robot Interaction: Intention Recognition and Mutual Entrainment

Abstract

Waltz is a typical example of physical human-human interaction (pHHI) in a well-structured environment. Waltz involves two dancers. The goal is to reproduce the female dancer's abilities with a robot in pHRI. The project focused on the lower level interaction in pHRI, i.e., coupled dynamics, and proposed a framework which covers modeling, analysis, human state sensing and robot control in developing a cooperative female robot dancer. The two dancers' coupled dynamics was modeled as two physically connected inverted pendulums. Stability of this two pendulum system was analyzed. The human state was measured by two laser range sensors, while the measurement noise and bias were corrected by a Kalman filter. Several candidate robot controllers were discussed and evaluated in experiments.

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Document Details

Document Type
Technical Report
Publication Date
Aug 18, 2012
Accession Number
ADA569839

Entities

People

  • Kazuhiro Kosuge

Organizations

  • Tohoku University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Air Force
  • Algorithms
  • Computational Science
  • Data Processing
  • Filters
  • Hidden Markov Models
  • Human-Robot Interaction
  • Kalman Filters
  • Low Pass Filters
  • Mathematical Filters
  • Measurement
  • Mechanical Engineering
  • Motion Capture
  • Probability
  • Reliability
  • Robots
  • Three Dimensional

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Inertial Navigation Systems.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control
  • Directed Energy