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 16 恒定扰动力和变扰动力对应轨迹

Fig.16 Trajectories corresponding to constant and variable force