Please use this identifier to cite or link to this item: https://doi.org/10.1007/978-3-642-34103-8_25
Title: Motion synchronization for human-robot collaboration
Authors: Ge, S.S. 
Li, Y.
Issue Date: 2012
Source: Ge, S.S.,Li, Y. (2012). Motion synchronization for human-robot collaboration. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 7621 LNAI : 248-257. ScholarBank@NUS Repository. https://doi.org/10.1007/978-3-642-34103-8_25
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. © 2012 Springer-Verlag.
Source Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
URI: http://scholarbank.nus.edu.sg/handle/10635/71021
ISBN: 9783642341021
ISSN: 03029743
DOI: 10.1007/978-3-642-34103-8_25
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