机器人柔顺行为控制方法综述OA北大核心CSTPCD

Robot compliant behavior means that the robot can dynamically adjust its own motion strategy,so as to show certain compliance to the physical interaction from human beings or environments.We review the control methods for robot compliant behavior.Firstly,the robot compliant control methods are classified according to different control loops.Then,the methods implemented in mo-tion control loop,path planning loop and task scheduling loop are collected and summarized.The different characteristics of robot compliance brought by each method are analyzed.Finally,several typical applications of robot compliant control are summarized,and the future trend of robot com-pliant control technology is prospected,in order to provide new ideas and directions for the re-search of robot compliant control.