Creation of Dance Steps for a Partner Robot to be Used Indoors in the Lunar Base Utilizing the Central Pattern Generator

抄録

The Artemis project is being pursued primarily by NASA. However, such manned bases entail extensive operations during construction and operation. Therefore, the utilization of space robots is crucial to alleviate the workload on humans. Humanoid robots, particularly as partner robots, are employed to reduce residents' psychological stress through communication with humans and their own performances. Hence, this paper focuses on the dance performances actively utilized by ground-based partner robots and explores the feasibility of achieving new types of lunar-specific performances that are not easily achievable on Earth by actively utilizing the low-gravity environment. In particular, the utilization of the central pattern generator enables the creation of a variety of dance steps with minimal parameter manipulation.