JRM Vol.21 No.3 pp. 342-352
doi: 10.20965/jrm.2009.p0342


Trajectory Generation for Adaptive Motion by Phase Feedback – Synchronization of Multicycle Human Movement –

Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki

Graduate school of Science and Engineering, Saitama University
250 Shimo-Ohkubo, Sakura-ku, Saitama City, Saitama 338-8570, Japan

November 12, 2008
February 21, 2009
June 20, 2009
PLL, synchronization, wavelet transformation, robot manipulator, rhythmic movement.

Synchronous motion is one of the important ability for the co-operation work by human. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. To be able to follow the uncertain action by human co-worker, the trajectory generation method must be required adaptability to frequency and phase of movement of human co-worker. Key techniques for our method are PLL (Phase Locked Loop), Fourier series approximation, wavelet transformation for trajectory. PLL technique achieves the phase synchronization with an arbitrary cyclic motion, like as human walking. Fourier series approximation of target trajectory allows us description of wide variety cyclic motion for the robot. More over, we can select the synchronous frequency from human movement with multiple cycles by wavelet transformation. The experiment of synchronization with 3-DOF manipulator and human demonstrator are carried out. As a result, we confirm synchronous performance and the effectiveness of proposed method.

Cite this article as:
Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki, “Trajectory Generation for Adaptive Motion by Phase Feedback – Synchronization of Multicycle Human Movement –,” J. Robot. Mechatron., Vol.21, No.3, pp. 342-352, 2009.
Data files:
  1. [1] W. Hong and J. J. E. Slotine, “Experiments in Hand-Eye Coordination Using Active Vision,” Proc. of the Fourth Int. Symposium on Experimental Robotics, pp. 130-139, 1995.
  2. [2] R. Ikeura and H. Inooka, “Variable Impedance Control of a Robot for Cooperation with a human,” Proc. of the 1995 IEEE Int. Conf. on Robotics and Automation, pp. 3097-3102, 1995.
  3. [3] Y. Hayashibara, Y. Sonoda, T. Takubo, H. Arai, and K. Tanie, “Assist System for Carrying a Long Object with a Human -Analysis of a Human Cooperative Behavior in the Vertical Direction,” Proc. of the 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp. 695-700, 1999.
  4. [4] K. Matsuoka, “Sustained oscillations generated by mutually inhibiting neurons with adaptation,” Biological Cybernetics, Vol.52, pp. 367-376, 1985.
  5. [5] S. Grillner, “Neurobiological bases of rhythmic motor acts in vertebrates,” Science, Vol.228, pp. 143-149, 1985.
  6. [6] K. Doya and S. Yoshizawa, “Adaptive synchronization of neural and physical oscillators,” Advances in Neural Information Processing Systems, Vol.4, pp. 109-116, 1992.
  7. [7] G. Taga, Y. Yamaguchi, and H. Shimizu, “Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment,” Biological Cybernetics, Vol.65, pp. 147-159, 1991.
  8. [8] Y. Fukuoka, H. Kimura, and A. H. Cohen, “Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts,” The Int. Journal of Robotics Research, Vol.22, No.3-4, pp. 187-202, 2003.
  9. [9] Y. Maeda, A. Takahashi, T. Hara, and T. Arai, “Human-Robot Cooperative Rope Turning-An Example of Mechanical Coordination through Rhythm Entrainment,” Advanced Robotics, Vol.17, No.1, pp. 67-78, 2003.
  10. [10] F.M.Gardner, “Phaselock Techniques,” 3rd ed., Wiley-Interscience, 2005.
  11. [11] S. Kotosaka and S. Schaal, “Synchronized Robot Drumming by Neural Oscillator,” Proc. of the Inter. Symposium on Adaptive Motion of Animals and Machines, CD-ROM, 2000.
  12. [12] D. Pomgas, A. Billard, and S. Schaal, “Rapid Synchronization and Accurate Phase-locking of Rythmic Motor Primitives,” IEEE Int. Conf. on Intelligent Robots and Systems, pp. 2911-2916, 2005.
  13. [13] J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal, and M. Kawato, “Learning from demonstration and adaptation of biped locomotion,” Robotics and Autonomous Systems, Vol.47, pp. 79-91, 2004.
  14. [14] P. S. Addison, (Trans. by S. Shin and K. Nakano), “The illustrated wavelet transform handbook: introductory theory and applications in science, engineering, medicine and finance,” Asakura Publishing Co.,Ltd., 2005 (in Japanese).

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Feb. 25, 2021