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|Title:||Motion synchronization for human-robot collaboration|
|Authors:||Ge, S.S. |
|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)|
|Appears in Collections:||Staff Publications|
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