Pseudo-reference for motion transfer based on autonomous control system with an orbit attractor

Skill or motion transfer from someone to other persons is always required for dance teaching, rehabilitation, sports and so on. For teaching or transfer of motion, a dance notation and display of sequence of motion are often used effectively. However, these contain only the instantaneous postures of motion or professional subjective sense, it is not easy for beginners to understand the dynamical knack of motion. In this paper, we propose “pseudo-reference” that is a virtual target posture in the human motion. The pseudo-reference is developed based on the modeling of the human motion by the attractor design method which realizes an autonomous system. By comparing the nonlinear controller with conventional control systems (1DOF and 2DOF control system), the pseudo-reference is obtained as an embodiment of the implicit reference. The proposed method is performed with the inverted pendulum system and the tap dancing robot, and the validity and feasibility for motion transfer of the pseudo-reference are evaluated.