HRI
自适应物理信息Transformer结合高斯过程残差补偿用于人机协作中的逆动力学建模
Rui Qian, Xi Zhang, Dongpeng Li, Liqiao Xia, Pai Zheng
- 发表年份
- 2026
- 引用次数
- 0
- 期刊
- Robotics and Computer-Integrated Manufacturing
摘要
本文提出了一种自适应物理信息Transformer模型，结合高斯过程残差补偿方法，用于人机协作中的逆动力学建模。该方法通过融合物理先验与数据驱动学习，有效提高了模型在复杂交互场景下的预测精度与鲁棒性。
关键词
inverse dynamicsphysics-informedtransformerhuman-robot collaborationGaussian process
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