- Abstract A timing control model is presented as a possible way to control a Human-Robot system executing a collaborative task in which a high level of synchronization among the agents is desired. The influencing parameters that affect the process of synchronization were analyzed. The performance of the model was evaluated based on costs of the waiting times of each of the agents at the spatial point of handover. The model was applied to two case-studies of dynamic HR collaborative scenarios. Results indicate that for certain scenarios, the timing control model is preferable over sensor based control. The timing control model provides a balance between speed and moderate accuracy requirements.