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This article presents a scheme for human-dance collaborative-robot interaction, where unlike traditional schemes the robot acts a follower and tracks the human’s motion. A motion capture system infers this motion using reflective spheres placed on the dancer’s body. The mobile robot tracks the motion by moving its base according to the pose of the human’s torso while considering a safe distance, and the attached manipulator on the quadruped-robot tracks the motion of the dancer’s right-arm. The skeletal of the human is inferred with a motion capture system while the motion of a quadruped with an attached arm are simulated and presented to validate the suggested framework.

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Leader-Follower Human-Cobot Improvised Dance Using Motion Capture Systems

  • 会议论文

  • 发表日期：

    2026年

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  • Vinicius Gonçalves,
  • Nikolaos Giakoumidis,
  • Merritt Moore,
  • Anthony Tzes

摘要

This article presents a scheme for human-dance collaborative-robot interaction, where unlike traditional schemes the robot acts a follower and tracks the human’s motion. A motion capture system infers this motion using reflective spheres placed on the dancer’s body. The mobile robot tracks the motion by moving its base according to the pose of the human’s torso while considering a safe distance, and the attached manipulator on the quadruped-robot tracks the motion of the dancer’s right-arm. The skeletal of the human is inferred with a motion capture system while the motion of a quadruped with an attached arm are simulated and presented to validate the suggested framework.