Design ofDynamics forSynchronization Based Control ofHuman-Robot Interaction
Minoru Hashimoto, Hironori Hashizume · 2006
Human-robot physical interaction isan important subjectforhousekeeping, elderly careand entertainment robots. Tomakeanatural physical interaction the entrainment betweenhuman and robotmotions accomplishes an important role. Fromthisviewpointwe proposedto use neuraloscillators for human-robot handshaking (2).We canmake synchronized rhythmic motions inhuman-robot interaction bytheproposed method, since aneural oscillator hasafunction ofsynchronization and entrainment withtheinputsignal. Howeverthereisa drawbackofthemethod.Itisno simple mattertofind appropriate valuesofparameters oftheneuraloscillator. Therearemanyparameters tobedetermined, andtheeffects oftheparameters tothecharacteristics oftheneural oscillator arerelated eachother.Inthispaperwe propose a design methodof dynamicsto generatesynchronization and entrainment inhuman-robot interaction instead oftheneural oscillators. We utilize a polynomial design ofthenonlinear dynamics andextendthemethodtosynchronization based control ofhuman-robot interaction. Thevalidity ofthedesign methodisexamined bythesimulation ofmutualinteraction between twovector fields.