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Human-Robot Coordination in Ballroom Dance and Its Generalization

Research Project

Project/Area Number 15206049
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTohoku University

Principal Investigator

KOSUGE Kazuhiro  Tohoku University, Graduate School of Engineering, Professor, 大学院工学研究科, 教授 (30153547)

Co-Investigator(Kenkyū-buntansha) HIRATA Yasuhisa  Tohoku University, Graduate School of Engineering, Associate Professor, 大学院工学研究科, 助教授 (20323040)
CHUY Oscar Jr.Ylaya  Tohoku University, Graduate School of Engineering, Research Associate, 大学院工学研究科, 助手 (40431530)
王 志東  東北大学, 大学院・工学研究科, 助教授 (40272017)
Project Period (FY) 2003 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥49,140,000 (Direct Cost: ¥37,800,000、Indirect Cost: ¥11,340,000)
Fiscal Year 2006: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
Fiscal Year 2005: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
Fiscal Year 2004: ¥15,210,000 (Direct Cost: ¥11,700,000、Indirect Cost: ¥3,510,000)
Fiscal Year 2003: ¥15,340,000 (Direct Cost: ¥11,800,000、Indirect Cost: ¥3,540,000)
KeywordsHuman-Robot Cooperation / Ballroom Dancing by Human and Robot / Estimation of Partner's Intention / Cooperative Motion Generation / Body Force Sensor / Omni-directional Mobile Base / Application to Other Robotic System / ダンスパートナロボット / 力学的相互作用 / 人間・機械協調 / 意図推定 / 全方向移動機能 / ボディフォースセンサ / 人間適応型システム / 環境適応型システム / 全方向移動機構 / ダンスパートナーロボット
Research Abstract

With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for the problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. However, it is currently difficult for the robots to execute tasks without help from human in such environments because recognizing the current situation and deciding appropriate behavior completely are not easy for the robots. Against the background, several researchers have developed human-robot collaboration system, e.g. human power assist system, in which robots execute tasks in coordination with human. In most human-robot collaboration system, robots behave passively against intentional forces applied by human. If robots could operate not only passively but also actively based on human intentions, information on the environments, knowledge of tasks etc., effective human-robot coordination could be realized.
… More This research focused on ballroom dancing as an example of the effective human-robot coordination with the physical interaction. In the ballroom dance, a dancer needs to have a physical interaction with a partner. In addition, each dancer has to estimate the intention of the partner, and move based on its intention, information on environments, knowledge of dances, etc. in order to dance gracefully. Therefore the ballroom dance is a good example for human-robot coordination including the physical interaction between the human and the robot. In this project, we have developed a dance partner robot system as a platform for investigation of the effective human-robot coordination. We have also proposed control architecture for moving the robot based on the human intention, information on the environments, and knowledge of dances. The product of developing the dance partner robot system could be useful for developments of other human-assist systems, in which the robots are expected to behave appropriately based on human intention, information on the environments, knowledge of tasks etc. As examples of the human-assist systems, we have applied the research product to another human-robot cooperation system and a walking support system. Finally, we have discussed effective human-robot cooperation system, and have made a report on this project. Less

Report

(5 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (24 results)

All 2007 2006 2005 2004 2003 Other

All Journal Article (22 results) Publications (2 results)

  • [Journal Article] 社交ダンスにおける人間とロボットとの力学的相互作用型協調運動システム2007

    • Author(s)
      竹田貴博
    • Journal Title

      日本ロボット学会誌 25(1)

      Pages: 113-120

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dance Step Estimation Method Based on HMM for Dance Partner Robot2007

    • Author(s)
      Takahiro Takeda
    • Journal Title

      IEEE Transactions on Industrial Electronics 54(2)

      Pages: 699-706

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] HMM-based Error Recovery of Dance Step Selection for Dance Partner Robot2007

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2007 IEEE International Conference on Robotics and Automation

      Pages: 1768-1773

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Human-Robot Cooperation with Physical Interaction for Ballroom Dance2007

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Journal of the Robotics Society of Japan Vol.25, No.1

      Pages: 113-120

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 社交ダンスにおける人間とロボットとの力学的相互作用型協調運動システム2007

    • Author(s)
      竹田貴博
    • Journal Title

      日本ロボット学会誌 25・1

      Pages: 113-120

    • Related Report
      2006 Annual Research Report
  • [Journal Article] HMM-Based Error Recovery of Dance Step Selection for Dance Partner Robot2007

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2007 IEEE International Conference on Robotics and Automation (印刷中)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Dance Step Estimation Method based on HMM for Dance Partner Robot2007

    • Author(s)
      Takahiro Takeda
    • Journal Title

      IEEE Transactions on Industrial Electronics (印刷中)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Motion Control of Intelligent Passive-type Walker for Fall-prevention Function based on Estimation of User State2006

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Proceedings of the 2006 IEEE International Conference on Robotics and Automation

      Pages: 3498-3503

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State2006

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1050-1055

    • Related Report
      2006 Annual Research Report
  • [Journal Article] HMM-based Error Detection of Dance Step Selection for Dance Partner Robot -MS DanceR2006

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 5631-5636

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Motion Control of Intelligent Passive-type Walker for Fall-prevention Function based on Estimation of User State2006

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Proceedings of the 2006 IEEE International Conference on Robotics and Automation (採録決定)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Construction of Human-Robot Cooperation System based on Structure/Motion Model2006

    • Author(s)
      Fumi Seto
    • Journal Title

      Proceedings of the 9th International Conference on Intelligent Autonomous Systems (採録決定)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] HMM-based Dance Step Estimation for Dance Partner Robot -MS DanceR-2005

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and System

      Pages: 1602-1607

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] HMM-based Dance Step Estimation for Dance Partner Robot -MS DanceR-2005

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1602-1607

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Step Estimation Method for Dance Partner Robot "MS DanceR" using Neural Network2005

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics

      Pages: 523-528

    • Related Report
      2005 Annual Research Report
  • [Journal Article] HMM-based Dance Step Estimation for Dance Partner Robot-MS DanceR2005

    • Author(s)
      Takahiro Takeda
    • Journal Title

      Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1602-1607

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Self-collision Avoidance Motion Control for Human Robot Cooperation System using RoBE2005

    • Author(s)
      Fumi Seto
    • Journal Title

      Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 50-55

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Human-Robot Coordination Partner Ballroom Dance Robot"PBDR"2005

    • Author(s)
      Kazuhiro Kosuge
    • Journal Title

      Proceedings of Korea-Japan Joint Workshop on Info-Mechatronic System

      Pages: 59-64

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ダンスパートナロボットシステム-MS DanceR- -第4報:隠れマルコフモデルに基づいたダンスステップの推定-2005

    • Author(s)
      竹田 貴博
    • Journal Title

      ロボティクスシンポジア2005予稿集 (発表予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Human-Robot Interaction2004

    • Author(s)
      Kazuhiro Kosuge
    • Journal Title

      Proc.of the IEEE.Int.Conf.on Robotics and Biomimetics

      Pages: 8-11

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Dance Partner Robot -Ms DanceR-2003

    • Author(s)
      Kazuhiro Kosuge
    • Journal Title

      Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 3459-3464

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dance Partner Robot-Ms DanceR-2003

    • Author(s)
      Kazuhiro Kosuge
    • Journal Title

      Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 3459-3464

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Publications] Kazuhiro Kosuge: "Dance Partner Robot -Ms DanceR-"Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. 3459-3464 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Yasuhisa Hirata: "Robot Technologies for Human-Robot Cooperation Systems in Ubiquitous Age"Proceedings of 2003 International Symposium on Microelectronics. 560-565 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2021-04-07  

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