Intelligent controller for human-robot handshaking based on online update of dynamics

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	Intelligent controller for human-robot handshaking based on online update of dynamics
	Xie, Guang-Hui1,2,3 ; Liang, Xi-Chang 1; Hashimoto, Minoru 2; Zhuang, Xiao-Hong 1
	2009-06-01
发表期刊	Kongzhi Lilun Yu Yingyong/Control Theory and Applications
ISSN	1000-8152
卷号	26 期号:6 页码:589-594
摘要	To realize the human-robot handshaking, we propose an intelligent controller for synchronizing the motions based on the online update of dynamics. In the simulation model for human-robot handshaking, the system dynamics of any attractor in the intelligent controller is approximated by a polynomial expression and is updated online, so that it has the self-oscillation characteristic and the input-output synchronization characteristic. The degrees of input-output synchronization can be varied by adjusting the forgetting-parameter and the load-parameter in the system dynamics. In the process of simulation, the human-robot handshaking is realized, demonstrating the validity of the intelligent controller.
关键词	Controllers Dynamics Intelligent control Intelligent robots Synchronization System theory Attractor Forgetting-parameter Intelligent controllers On-line updates Polynomial expression Self-oscillations Simulation model System Dynamics
收录类别	EI
语种	中文
出版者	South China University of Technology
EI入藏号	20093112227986
EI分类号	731.1 Control Systems ; 731.6 Robot Applications ; 732.1 Control Equipment ; 961 Systems Science
原始文献类型	Journal article (JA)
文献类型	期刊论文
条目标识符	https://ir.cqcet.edu.cn/handle/39TD4454/2897
专题	智慧健康学院
作者单位	1.Mechanical Transmission State Key Laboratory, Chongqing University, Chongqing 400044, China; 2.Faculty of Textile Science and Technology, Shinshu University, Nagano 386-8567, Japan; 3.Chongqing College of Electronic Engineering, Chongqing 401331, China
第一作者单位	重庆电子科技职业大学
推荐引用方式 GB/T 7714	Xie, Guang-Hui,Liang, Xi-Chang,Hashimoto, Minoru,et al. Intelligent controller for human-robot handshaking based on online update of dynamics[J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications,2009,26(6):589-594.
APA	Xie, Guang-Hui,Liang, Xi-Chang,Hashimoto, Minoru,&Zhuang, Xiao-Hong.(2009).Intelligent controller for human-robot handshaking based on online update of dynamics.Kongzhi Lilun Yu Yingyong/Control Theory and Applications,26(6),589-594.
MLA	Xie, Guang-Hui,et al."Intelligent controller for human-robot handshaking based on online update of dynamics".Kongzhi Lilun Yu Yingyong/Control Theory and Applications 26.6(2009):589-594.