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Improved task-oriented force feedback control methods for humanoid robot

机译:改进的面向任务的仿人机器人力反馈控制方法

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摘要

Force feedback control is essential for humanoid robot as it is important for the robot to work in the human-robot mixed environment. This article proposes improved task-oriented force feedback control methods for humanoid robot which are based on the robot control system proposed by Oussama Khatib. The methods are improved in three parts: joint forces optimization, combination of joint forces and motion and posture Design, and force error prediction and motion error prediction. Simulation experimental results are carried and this method can largely improved the manipulation results of humanoid robot.
机译:力反馈控制对于类人机器人至关重要,因为它对于机器人在人机混合环境中的工作至关重要。本文基于Oussama Khatib提出的机器人控制系统,提出了一种改进的面向任务的类人机器人力反馈控制方法。该方法在三个方面进行了改进:关节力优化,关节力与运动和姿势设计的组合以及力误差预测和运动误差预测。进行了仿真实验,结果表明该方法可以大大提高仿人机器人的操纵效果。

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