A simple control design for human-robot coordination based on the knowledge of dynamical role division

This paper discusses skillful role divisions of coordinated motion between two agents in a crank-rotation task. The roles for coordination, called ¿dynamical role division,¿ emerge from dynamic interaction between the agents, through which each agent comes to play a specialized role without conscious understanding. This paper also proposes a novel approach to apply this latent skill in coordinated motions to human-robot coordination, and showing the following advantages of this method: 1) controls of each agent´s actions are simplified; 2) task performances are improved in a simple manner.