Yuriko Kakehashi, Tamon Izawa, Takuma Shirai, Yuto Nakanishi, Kei Okada, and Masayuki Inaba

Abstract:
Dance is the art of physical expression. To enhance the expression of robots¡Ç motions and foster sophisticated communication, we aspire to enable robots to dance. Flexible motion of the torso is presumed to be important in dancing, so we picked hula hooping as an accessible example. In this paper, we lay out a simple model of hula hooping that depicts both the torso and hoop, then consider applicability using dedicated robots to show that the model can enable real robots to succeed in hula hooping.

Keywords: hula hooping, robot, flexible torso