Dance Partner Robot -MS DanceR - Error Recovery of Dance Step Selection using Hidden Markov Models

摘要

We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In the previous research, an estimation system for dance steps has been improved, which estimates the next dance step intended by a human. Although estimating the intended step is important for realizing the human-robot coordination, the cases that the estimation is failed and that the robot selects an incorrect step are not considered. Such cases have to be discussed carefully for realizing the effective human-robot coordination. This paper focuses on error recovery problems of dance step selections. Experimental results illustrate the validity of an error recovery method.