Waltz Dance Training
In this dissertation, a new robot for supporting skill training process is conceived and developed. With the underlying concept being that a robot can be a guide and a companion in the learning process toward faster and enhanced skill acquisition. This document presents the design, construction, control and evaluation of a dance instructor robot. Likewise, the teaching methodology for guiding physical human--robot interactions in the context of Waltz dance training. Making this robot a unique example of robot lead interactions in close contact with humans. Formerly, human--robot cooperative tasks have been widely researched for achieving high-level assistive robots capable of predicting and supporting humans in daily life activities, such …show more content…
Analyzing the human body motions while dancing through a motion capture system and designing the structure with a minimal number of degrees of freedom (DOF) that would perform a human-like motion in the waltz dance. The robot was arranged as a human-sized mobile humanoid robot with 3 DOF in the lower body formed by displacement of the body on x and y axis and a rotation around the z axis; and 4 DOF in the upper body composed by 1 translation over the z axis, a rotation around the Z axis of the hips, a rotation of the clavicle center, and a rotation of the shoulders around the …show more content…
Consequently, the robot can convey its motion intention making easier to understand, as the human is more susceptible to any robot force at this point. The proposed method of unstable equivalent point (UEP) was tested under motion direction changes in the dance for 10 subjects, finding $20\%$ more understanding when the UEP method was used. Furthermore, required force for conveying the robot’s motion intention exhibited an average reduction of $10 N$ compared with guidance with pure force control. Regarding the skill training with the robot, an approach is proposed for adapting the robot’s behavior to the human state based on the skill level. Through a progressive teaching (PT) method, the robot guides motions exerting required forces proportionally to an estimation of the partner’s ability. As the human skill improves, the robot minimizes its support. As the training count increases the robot increase the difficulty in the task by complying more to human
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