%0 Journal Article
%T Intelligent controller for human-robot handshaking based on online update of dynamics<br>动力学在线更新的人和机器人握手智能控制器
%A XIE Guang-hui
%A LIANG Xi-chang
%A Minoru HASHIMOTO
%A ZHUANG Xiao-hong
%A <br>谢光辉
%A 梁锡昌
%A 桥本稔
%A 庄小红
%J 控制理论与应用
%D 2009
%I 
%X 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.
%K polynomial online update
%K handshaking robot
%K dynamics
%K attractor
%K forgetting-parameter<br>多项式在线更新
%K 握手机器人
%K 动力学
%K 吸引子
%K 忘却系数
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=4D3B25CE849F2A9DCDFC24374951A293&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=B31275AF3241DB2D&sid=4081E94A71AB3C30&eid=65FC738C50B41E43&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=7