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 17 搬运任务切换对应机械臂末端轨迹

Fig.17 Trajectory of end effector corresponding to transportation tast switch