To improve the robotic flexibility and dexterity in a human-robot collaboration task, it is important to adapt the robot impedance in a real-time manner to its partner’s behavior. However, it is often quite challenging to achieve this goal and has not been well addressed yet. In this paper, we propose a bio-inspired approach as a possible solution, which enables the online adaptation of robotic impedance in the unknown and dynamic environment. Specifically, the bio-inspired mechanism is derived from the human motor learning, and it can automatically adapt the robotic impedance and feedforward torque along the motion trajectory. It can enable the learning of compliant robotic behaviors to meet the dynamic requirements of the interactions. In order to validate the proposed approach, an experiment containing an anti-disturbance test and a human-robot collaborative sawing task has been conducted.

为了提高人机协作任务中的机器人灵活性和敏捷性，重要的是使机器人阻抗实时适应其伙伴的行为。然而，实现这一目标通常是非常具有挑战性的，并且尚未得到很好的解决。在本文中，我们提出了一种受生物启发的方法作为一种可能的解决方案，该方法可以在未知和动态环境中在线调整机器人阻抗。具体而言，受生物启发的机制源自人类的运动学习，它可以沿运动轨迹自动适应机器人阻抗和前馈扭矩。它可以使合规机器人行为的学习满足交互的动态要求。为了验证提议的方法，