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Rocking, Tapping and Stepping: A Prelude to Dance

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Abstract

Dancing to a rhythm, as humans do, is a complex process, andformulation of its dynamics and control are very difficult. Rhythmicexchange of the support surfaces and stability of the overall systemare not well understood. To produce a dancing movement, simplermovements such as rocking, tapping, and stepping can be combined. Therhythm of dancing is usually driven by a music beat. A method thatextracts beats from a wide variety of music in real time ispresented. Work is being done to couple the extracted rhythm of themusic to a dancing biped. The seven degree of freedom sagittal bipedwith sixteen actuators is controlled to move in a rocking, tapping,and stepping fashion. A pattern generator is described which takes amusical beat and generates oscillations. The oscillations are usedto select a finite sequence of predefined desired states, and todrive the system from the current desired state to the next. Thesenext desired states allow derivation of neural excitation inputs tothe sixteen muscle-like actuators. Simulations show the feasibilityof the control strategy moving the biped from desired state todesired state as it traverses the trajectories of these three simplermovements of rocking, tapping, and stepping. In a final simulation,the three movements of rocking, stepping, and tapping are combined ina three-step up and down dancing movement.

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Authors and Affiliations

  1. Department of Electrical Engineering, The Ohio State University, Columbus, OH, 43210

    Laci Jalics, Hooshang Hemami, Bradley Clymer & Alan Groff

Authors
  1. Laci Jalics
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  2. Hooshang Hemami
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  3. Bradley Clymer
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  4. Alan Groff
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Jalics, L., Hemami, H., Clymer, B. et al. Rocking, Tapping and Stepping: A Prelude to Dance. Autonomous Robots 4, 227–242 (1997). https://doi.org/10.1023/A:1008887808551

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