Temporal scaling of leg motion for music feedback system of a dancing humanoid robot
作者： T Okamoto , T Shiratori , S Kudoh , K Ikeuchi
DOI: 10.1109/IROS.2010.5652811
关键词:
摘要: In this paper, we propose a method to achieve temporal scaling of leg motions as fundamental technique for music feedback system dancing humanoid robot. We asked dancers perform dance motion at normal musical tempo and faster tempos observed how modified performance given tempos. The obtained insights from the observation are 1) dancer needs preserve postures that important emphasize expression, 2) there is priority determine what features can be adjusted, 3) stylistic resembles step if cannot follow fast completely. Based on these insights, generate appropriately adjusted changing while maintaining balance. validated our via simulation experiments with robot HRP-2.
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