1A1-D01 力学系を用いた人間とロボットの握手インタラクション(人間機械協調)

抄録

To make a natural physical interaction the entrainment between human and robot motions accomplishes an important role. From this view point we proposed to use neural oscillators for human-robot handshaking. However there is a drawback of the method. In this paper we propose a design method of dynamics to generate synchronization and entrainment in human-robot handshaking instead of the neural oscillators. We utilize a polynomial design of the nonlinear dynamics and extend the method to synchronization based control of human-robot interaction. The validity of the design method is examined by the experiments of human-robot handshaking.