多自由度仿生灵巧手控制方法及系统
本申请提供一种多自由度仿生灵巧手控制方法及系统。该方法通过获取仿生灵巧手在操作过程中的关节状态信息,然后,将关节状态信息输入至潜在空间表征模型中,以获得表征仿生灵巧手运动模式的潜在变量,并根据潜在变量与期望控制指令之间的对应关系生成对应控制信号,再根据控制信号驱动仿生灵巧手执行期望控制指令所对应的期望目标动作,实现了多自由度仿生灵巧手在任务中的自然协调控制,有效解决了高维非线性系统控制困难、响应迟滞及动作不自然的问题。
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