Robot Communication Principal by Motion Synchronization using Orbit Attractor Masafumi Okada and Kenji Murakami Dept. of Mechanical Sciences and Engineering Tokyo Institute of Technology, JAPAN Realization of the tapping dance motion by the orbit attractor design method. The motion synchronization control method using entrainment phenomenon is proposed. Two robots are entrained to a feasible motion, which realizes the robot communication by an entrainment phenomenon of the nonlinear dynamics. Tapping dance robot and motion synchronization