信息与控制2024，Vol.53Issue(4)：433-452,20.DOI:10.13976/j.cnki.xk.2024.4003
机器人柔顺行为控制方法综述
A Survey of Control Methods for Robot Compliant Behaviour
任丹梅 1边飞飞2
作者信息
- 1. 南京理工大学紫金学院,江苏南京 210046
- 2. 南京电子技术研究所,江苏南京 210039
- 折叠
摘要
Abstract
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.关键词
人机协作/人机物理交互/柔顺控制/机器人柔顺性Key words
human-robot collaboration/physical human-robot interaction/compliant control/robot compliance分类
计算机与自动化引用本文复制引用
任丹梅,边飞飞..机器人柔顺行为控制方法综述[J].信息与控制,2024,53(4):433-452,20.
