本論文主要在設計與發展一套握手機器人系統，能夠與人產生互動並完成握手之動作。以阻抗控制為基礎，根據手臂終端所承受外力與相對應位移之關係，使機械手臂能順應使用者施加之外力，做動出位移的反應。當操作者不同時，施加外力的方向與大小亦是不同且無法預測。於是我們結合位置控制模式之阻抗控制與適應性方法，使控制系統能去適應不同的外力做出適當的位移反應。此種阻抗控制方法亦可命名為可變式阻抗控制，它可以藉由調整阻抗參數去得到好的效能。經由初步的實驗結果我們亦提出一些改變阻抗參數的策略，目的是希望能使握手感覺更接近人與人的握手動作。經由實際做動手臂與人握手的實驗與分析，可證實本文所設計之握手機器人系統是可行的。

In this thesis, we developed a handshaking robot system to realize human-robot handshaking motion. Position-based impedance control could provide the response of the system to external forces by utilizing a desired impedance relationship between the external force and displacement. Position-based impedance control combined with Adaptive method could adapt the unpredicted direction and magnitude of exerted force by different operators. This kind of method can be called variable impedance control as well. Variable impedance control could regulate impedance parameters for better performance. Through elementary experiments we proposed some strategies which helped the operator to change impedance parameters. The purpose of the strategies is to make the experimental handshaking feeling more realistic as handshaking feeling between humans. Finally the proposed system would be proved feasible by experimental results and analysis.

[1]Raibert, M.H., Craig, J.J., “Hybrid Position/Force Control of Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol.102, pp. 126-133 (1981)
[2]Liu, G.J., Goldenberg, A.A., “Robust Hybrid Impedance Control of Robot manipulators,” Proceedings-IEEE Conference on Robotics and Automation, Sacramento, USA, pp. 287-292 (1991)
[3]Hogan, N., “Impedance Control: An Approach to Manipulation, Parts I-III,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol.107, pp. 1-24 (1985)
[4]Heinrichs, B., Sepehri, N., Thornton-Trump, “Position-based impedance control of an industrial hydraulic manipulator,” Control System Magazine, Vol. 57, pp. 46-52 (1997)
[5]Singh, S. K., Popa, D. O., “An Analysis of Some Fundamental Problems in Adaptive Control of Force and Impedance Behavior: Theory and Experiments,” IEEE Robotics And Automation, Vol. 11, pp. 912-921 (1995)
[6]Hyun, C.C., Jong, H.P., “Stable bilateral teleoperation under a time delay using a robust impedance control,” Mechatronics, Vol. 15, pp. 611-625 (2005)
[7]Seul, J., Hsia, T.C., Robert G., Bonitz, “Force tracking impedance control of robot manipulators under unknown environment,” IEEE Control System Technology, Vol. 12, pp. 474-483 (2004)
[8]Seul J., Hsia, T.C., “Force Tracking Impedance Control of Robot Manipulators for Environment with Damping,” Proceedings-IEEE Conference on Industrial Electronics Society, Taipei, Taiwan, pp. 2742-2747 (2007)
[9]Lei Wang, Yongping Hao, Fei Wang, Hongyi Liu, “Experimental study of force control based on intelligent prediction algorithm in open architecture robot system,” Proceedings-IEEE Conference on Robotics and Biomimetics, Sanya, China, pp. 1675-1681 (2007)
[10]Asada, H., “Teaching and learning of compliance using neural nets: representation and generation of nonlinear compliance,” Proceedings-IEEE Conference on Robotics And Automation, pp. 1237-1244 (1990)
[11]Venkataraman, S.T., Gulati, S., Barhen, J., Toomarian, “A neural network based identification of environments models for compliant control of space robots,” IEEE Robotics And Automation, Vol. 9, pp.685-697 (1993)
[12]Seul J., Hsia, T.C., “Neural network techniques for robust force control of robot manipulators,” Proceedings-IEEE symposium on Intelligent Control, pp. 111-116 (1995)
[13]Seul J., Hsia, T.C., “Neural network impedance force control of robot manipulator,” IEEE Industrial Electronics, Vol. 45, pp. 451-461 (1998)
[14]Marques, S.J.C.,. Baptista, L.F., Costa, J.S., “Force control of robot manipulators with neural networks compensation: a comparative study,” Proceedings-IEEE symposium on Industrial Electronics, Guimaraes, Portugal, pp. 872-877 (1997)
[15]Yoshikawa, T., “Force control of robot manipulators,” Proceedings-IEEE Conference on Robotics And Automation, San Francisco, USA, pp. 220-226 (2000)
[16]Ikeura, R., Monden, H., Inooka, H., “Cooperative motion control of a robot and a human,” Proceedings-IEEE Conference on Robot and Human Communication, Roman, Italy, pp. 112-117 (1994)
[17]Tsumugiwa, T., Yokogawa, R., Hara, K., “Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task,” Proceedings-IEEE Conference on Robotics And Automation, Washington, USA, pp. 644-650 (2002)
[18]Duchaine, V., Clement, M., Gosselin, “General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control,” Eurohaptics Conference on Virtual Environment and Teleoperator Systems, pp. 446-451 (2007)
[19]Tee, K.P., Burdet, E., Chew, C.M., Milner, T.E., “Investigating motor adaptation to stable and unstable tasks using haptic interfaces, EMG and fMRI,” SICE Annual Conference, pp. 591-595 (2003)
[20]Kasuga, T., Hashimoto, M., “Human-Robot Handshaking using Neural Oscillators,” Proceedings-IEEE Conference on Robotics And Automation, Barcelona, Spain, pp. 3802-3807 (2005)
[21]Jindai, M., Watanabe, T., “A handshake robot system based on a shake-motion leading model,” Proceedings-IEEE Conference on Intelligent Robotic And Systems, Nice, France, pp. 3330-3335 (2008)
[22]Yamato, Y., Jindai, M., Wtanabe, T., “Developement of A Shake-Motion Leading Model for Human-Robot Handshaking,” SICE Annual Conference, Japan (2008)
[23]Aseltine, J.A., Mancini, A.R., Sartune, C.W., “A Survey of Adaptive Control Systems,” IRE Transactions on Automatic Control, Vol. 3, pp. 102-108 (1958)
[24]Petros A., Ioannou, Jing, S., Robust Adaptive Control, PTR Prentice-Hall, NJ, pp. 144-245 (1996)
[25]Mark , W., Hutchinson, S.S., Vidyasagar, M., Robot Modeling And Control, John Wiley and Sons, NY, pp. 35-117 (2006)
[26]晉茂林，機器人學，五南圖書出版公司，台北，第235-254頁 (1999)