抄録
In order to realize a robot which works in cooperation with a human, the dance partner robot which dances ballroom dance with human is researched. The dance partner robot needs to estimate which step human steps on next. In this paper, the authors pay attention to the dance partner robot's step estimation system and propose the method to estimate dance step transition based on Hidden Markov Model and "Mimesis Theory" in order to estimate step transition in higher accuracy. In addition, the authors make "Proto-Symbol Space" from the power that is added to the robot from a human when a human dances with the robot.
