Description

A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the interaction force; because in simulation the theoretically optimal feedback gain is sensitive to measurement noise, another set of empirical gains are used and proved to be effective in experiments.

Questions and Answers

You need to be logged in to be able to post here.