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MITIGATING REALITY GAP THROUGH SIMULATING COMPLIANT CONTROL AND/OR COMPLIANT CONTACT IN ROBOTIC SIMULATOR
MITIGATING REALITY GAP THROUGH SIMULATING COMPLIANT CONTROL AND/OR COMPLIANT CONTACT IN ROBOTIC SIMULATOR
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机译:通过模拟机器人模拟器的符合控制和/或符合要求的联系来缓解现实缺口
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摘要
Mitigating the reality gap through utilization of technique(s) that enable compliant robotic control and/or compliant robotic contact to be simulated effectively by a robotic simulator. The technique(s) can include, for example: (1) utilizing a compliant end effector model in simulated episodes of the robotic simulator; (2) using, during the simulated episodes, a soft constraint for a contact constraint of a simulated contact model of the robotic simulator; and/or (3) using proportional derivative (PD) control in generating joint control forces, for simulated joints of the simulated robot, during the simulated episodes. Implementations additionally or alternatively relate to determining parameter(s), for use in one or more of the techniques that enable effective simulation of compliant robotic control and/or compliant robotic contact.
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