LOCOMOTION
UniExo：用于肌肉骨骼运动与协同自适应外骨骼控制的统一多技能策略
Yifei Yuan, Jakob Wolf, Ghaith Androwis, Xianlian Zhou
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
UniExo框架首先构建多技能肌肉骨骼人体策略，然后联合训练外骨骼控制策略。四个单技能模仿专家被蒸馏为统一网络，并在过渡序列上微调，实现94.7%的跟踪成功率，且单个髋关节外骨骼控制器通过多智能体强化学习与人体策略协同适应。
关键词
exoskeletonlocomotionmulti-skillreinforcement learningmusculoskeletal
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