基于模仿学习的变刚度人机协作搬运控制

汤自林,高霄,肖晓晖

Variable stiffiness control for human-robot cooperative transportation based on imitation learning

Zi-lin TANG,Xiao GAO,Xiao-hui XIAO

图 13 高斯分布椭球内变刚度系数对应轨迹

Fig.13 Trajectories corresponding to variable stiffness in ellipsoid of Gaussian distribution