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Jun, 2024
从少量示范学习双臂机器人带有触觉反馈遥操作系统的可变柔顺控制
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System
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Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
TL;DR
通过虚拟现实控制器提供直观且经济的任务演示方法,结合动作块划分和变量合规性控制的方法,提高了刚性机器人的灵活适应性和安全性。
Abstract
automating
dexterous,
contact-rich manipulation
tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contac
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