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.