An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot

A linear inverted pendulum (LIPM) is used to model the human dancer's body dynamics in closed changes. Several assumptions are made: a controller is proposed to balance the LIPM; the dance frame is considered as a spring-damper connection; the two dancers are assumed to choose support positions independently. Motions generated by the model are compared with human's real motions. Results of comparisons suggest the model and the assumptions are effective in reproducing human dancers' body dynamics in waltz. Issues in implementing the model on a dance partner robot are discussed.