This paper proposes an IMU (Inertial Measurement Unit) -based human-machine cooperation control algorithm of active dancing robot The robot is equipped with three springs with a certain rigidity at the waist. Kalman filter is used to fuse the triaxial accelerometer data with the three-axis gyroscope data to obtain the changes of attitude angle of the robot under the influence of human partners. The threshold method is used to eliminate the jitter error of attitude angle. Combined with the current state of the robot, the mapping of the relative attitude angle to the velocity vector is obtained. Then, the desired trajectory speed and the human trajectory correction speed are fused to get the robot trajectory and the corrected coordinates of the remaining target points. The algorithm is applied to Waltz CCL (Closed Change Left) trajectory test, and the experimental results show that the algorithm works well.