Social Dancing via Compliant Controllers for Humanoid Robots

Marie Charbonneau dancing with the REEM-C humanoid robot
This project focuses on developing compliant control approaches for the position-controlled REEM-C which enable close, direct physical human-robot interactions that are also appropriate for social interactions.

For the first real-world application, we are investigating social dancing. We will be developing a whole-body controller that allows the robot to follow the dancing movements commanded by the human partner. We will also be looking at the motion coordination and the forces exchanged between two dancing partners, in order to transfer this knowledge to human-robot interactions.