关键词：机器人；耦合(交互)；交互作用；控制系统；探测器
摘 要：Waltz is a typical example of physical human-human interaction (pHHI) in a well-structured environment. Waltz involves two dancers. The goal is to reproduce the female dancer's abilities with a robot in pHRI. The project focused on the lower level interaction in pHRI, i.e., coupled dynamics, and proposed a framework which covers modeling, analysis, human state sensing and robot control in developing a cooperative female robot dancer. The two dancers' coupled dynamics was modeled as two physically connected inverted pendulums. Stability of this two pendulum system was analyzed. The human state was measured by two laser range sensors, while the measurement noise and bias were corrected by a Kalman filter. Several candidate robot controllers were discussed and evaluated in experiments.