2A1-F14 Trajectory generation for adaptive motion by phase feedback : Synchronization with partially visible target by gain control

Abstract

Synchronous motion is one of the important ability for the co-operation work by human in daily life. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. This report, we proposed a robustness method can be synchronized with partially visible target. The key technique of our proposed method is gain control. Gain control can improve synchronous response to partially visible target motion. The experiment of synchronization with 3-DOF manipulator and human demonstrator are carried out. As a result, we confirm synchronous performance and the robustness of our proposed method.