Intelligent controller for human-robot handshaking based on online update of dynamics
动力学在线更新的人和机器人握手智能控制器

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.