Abstract
This paper presents a method for generating dance motion for a robot arm focusing on prioritized key poses. Key poses are stop poses that represent primary features of dance motion. In some cases, for example at a fast tempo, achieving all key poses becomes difficult due to physical limitation of the robot. In such cases, the robot must take important key poses selectively. Dance motion is generated with multi-objective trajectory planning method and planned on-line in the model predictive control framework. Finally, proposed method have realized dance motion on a robot arm PA10.
