Robot Communication Principal by Motion Synchronization using Orbit Attractor

Abstract

The human communication exists in various situations of our daily life. For human-robot communication or robot-robot communication, it is useful to design a communication model based on communication principal that is an entrainment phenomenon of nonlinear dynamics. In this paper, we focus on the robot motion synchronization for robot-robot communication. The robots are controlled to be entrained to an orbit attractor that corresponds to a robot motion. By exchanging the state variables of each robot, the robots are controlled to entrain one attractor that is possible for both robots and synchronize each other. The results of this paper represent the communication principal by an entrainment phenomenon of nonlinear dynamics.