给定手部作业轨迹的仿人机器人推操作研究

肖涛，黄强，杨洁，余张国，张伟民

北京理工大学机电学院智能机器人研究所，仿生机器人与系统教育部重点实室，复杂系
统智能控制与决策国家重点实验室

                  北京市海淀区中关村南大街5号，100081

 Research of Pushing Operation by Humanoid Robot based on Certain Hand Manipulation Trajectory
XIAO Tao^1,2, HUANG Qiang^1,2, YANG Jie^1,2, YU Zhangguo^1,2

                   ¹Intelligent Robotics Institute, ²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of      Intelligent 

                  Control and Decision of Complex Systems

                   School of Mechatronical Engineering, Beijing Institute of Technology,

                  5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China

         相关论文、专著、研究报告、资料、鉴定证书及成果报道等，均须标明

         高等学校学科创新引智计划资助（项目编号：B08043）

                  This work was supported by the 111 Project (Grant No. B08043)

                  National Science Foundation for Distinguished Young Scholar (Grant No. 60925014),