Abstract
In this paper, motion synchronization is investigated for human-robot collaboration, such that the motions of the robot and its human partner are synchronized and the robot is able to “actively” follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control is developed to generate a periodic trajectory. The proposed method is verified through simulation studies.
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Ge, S.S., Li, Y. (2012). Motion Synchronization for Human-Robot Collaboration. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_25
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DOI: https://doi.org/10.1007/978-3-642-34103-8_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34102-1
Online ISBN: 978-3-642-34103-8
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