基于动态运动原语和自适应控制的机器人技能学习

张文安, 高伟展, 刘安东

Robot Skill Learning Based on Dynamic Motion Primitives and Adaptive Control

ZHANG Wenan, GAO Weizhan, LIU Andong

图3 使用GMM和GMR对DMP的强迫项进行建模和回归

Fig.3 Modeling and regression of DMP forcing terms by GMM and GMR