Abstract
Interaction between humans and robots becomes more important in everyday life. In this work, a system is presented that creates a natural haptic human-robot interaction. A one degree of freedom dancing task is considered. The underlying model, which is based on a corresponding human-human interaction, replaces the male partner. The trajectories of the dancing steps are synthesized using a nonlinear system dynamics. A virtual fixture recreates the behavior of the interaction with a female partner. The implemented model is evaluated for different parameters based on objective measures.
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Hölldampf, J., Peer, A., Buss, M. (2009). Virtual Partner for a Haptic Interaction Task. In: Ritter, H., Sagerer, G., Dillmann, R., Buss, M. (eds) Human Centered Robot Systems. Cognitive Systems Monographs, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10403-9_19
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DOI: https://doi.org/10.1007/978-3-642-10403-9_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10402-2
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