2P1-D08 ダンスパートナロボットシステム-MS DanceR- : 第6報:隠れマルコフモデルを用いたダンスステップのミス検出手法

概要

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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 detections of dance step selections. Experimental results illustrate the validity of a error detection method.
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