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Computer Science > Robotics

arXiv:1810.12462 (cs)
[Submitted on 29 Oct 2018]

Title:Dance Teaching by a Robot: Combining Cognitive and Physical Human-Robot Interaction for Supporting the Skill Learning Process

Authors:Diego Felipe Paez Granados, Breno A. Yamamoto, Hiroko Kamide, Jun Kinugawa, Kazuhiro Kosuge
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Abstract:This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for assisting the skill learning process. Direct contact cooperation has been designed through an adaptive impedance-based controller that adjusts according to the partner's performance in the task. In measuring performance, a scoring system has been designed using the concept of progressive teaching (PT). The system adjusts the difficulty based on the user's number of practices and performance history. Using the proposed method and a baseline constant controller, comparative experiments have shown that the PT presents better performance in the initial stage of skill learning. An analysis of the subjects' perception of comfort, peace of mind, and robot performance have shown a significant difference at the p < .01 level, favoring the PT algorithm.
Comments: Presented at IEEE International Conference on Robotics and Automation ICRA-2017
Subjects: Robotics (cs.RO); Optimization and Control (math.OC); Applied Physics (physics.app-ph)
Cite as: arXiv:1810.12462 [cs.RO]
  (or arXiv:1810.12462v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1810.12462
Journal reference: IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1452-1459, July 2017
Related DOI: https://doi.org/10.1109/LRA.2017.2671428

Submission history

From: Diego Felipe Paez Granados Dr. [view email]
[v1] Mon, 29 Oct 2018 23:53:22 UTC (1,195 KB)
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Diego Felipe Paez Granados
Breno A. Yamamoto
Hiroko Kamide
Jun Kinugawa
Kazuhiro Kosuge
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