1A1-M07 男性型ダンスパートナロボットにおける他のカップルのステップ推定に基づいた衝突回避(人間機械協調)

Abstract

This paper discusses advanced human-robot coordination systems. The dance partner robot executing ballroom dances with a human has been developed as an example of advanced human-robot coordination systems in previous research. In the ballroom dance, a dance couple moves on a dance floor based on the relative position between themselves and other dance couples. This paper proposes a method for estimating dance step using trajectories of other couples based on Hidden Markov Models. Additionally, this paper proposes a method for selecting the next step based on the estimated result to avoid the collision with other dance couples.