Motion Synchronization for Human-Robot Collaboration

  • Shuzhi Sam Ge
  • Yanan Li
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


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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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Shuzhi Sam Ge
    • 1
    • 2
  • Yanan Li
    • 1
    • 3
  1. 1.Social Robotics Laboratory, Interactive Digital Media Institute, and Department of Electrical and Computer EngineeringNational University of SingaporeSingaporeSingapore
  2. 2.Robotics Institute, and School of Computer Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengduChina
  3. 3.NUS Graduate School for Integrative Sciences and EngineeringNational University of SingaporeSingaporeSingapore

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