Motion Planning for Dancing Robots Based on Human's Dancing Motion.

Abstract

This paper describes a motion planning method for dancing robots. The dancing robots entertain many people by their fascinating motions. Because their motions are evaluated based on the feelings of human, the motion planning for them is more difficult than industrial robots. Conventional planning methods can not be applied to the dancing robot. In this paper, we propose a systematic method using the images gotten from the dancing motion performed by human. Firstly, measuring the position of several parts in the target motion performed by human, we construct a refference model using computer graphics. The reference model have enough DOF; it may include unimportant DOF for performing the original motion. Then, the unimportant DOF is selected and restricted by evaluating several proposed indexes. We exmaine the reduced model based on subjective evaluation and show that the original motion can be performed by the reduced model without changing the feeling of human. Finally, to make the motion of the reduced model similar to original one, trajectories of unrestricted joints are modified so as to minimize a model error and the effectiveness is shown based on subjective evaluation.