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CANFD",{},true,"\u002Fglossary\u002Fzh\u002Fmit-protocol-can",{"title":6,"description":86},"glossary\u002Fzh\u002Fmit-protocol-can",null,"dyY6xvhT19PZxRgo_yMqQGrlyQAk9NghjeSWibo2IYg",{"id":97,"title":98,"alternateName":99,"body":100,"description":170,"extension":87,"keywords":171,"meta":172,"navigation":90,"path":173,"seo":174,"stem":175,"updated":94,"__hash__":176},"glossary\u002Fglossary\u002Fzh\u002Fsim-to-real.md","Sim-to-Real（仿真到实机）","仿真到实机迁移",{"type":9,"value":101,"toc":166},[102,106,112,116,123,146,149],[12,103,105],{"id":104},"sim-to-real-是什么","Sim-to-Real 是什么？",[17,107,108,111],{},[20,109,110],{},"Sim-to-Real","（仿真到实机）是指先在物理仿真器（如 MuJoCo、Isaac Gym\u002FLab）中训练机器人控制策略，再把训练好的策略部署到真实机器人上的技术路线。真机训练又慢又贵还会摔坏硬件，而仿真可以并行跑成千上万个机器人、以超实时速度积累\"经验\"，这让强化学习训练人形机器人行走等技能成为可能。",[25,113,115],{"id":114},"核心挑战现实差距","核心挑战：现实差距",[17,117,118,119,122],{},"仿真永远不完全等于现实（摩擦、延迟、电机特性、传感噪声的差异），这个差异称为 ",[20,120,121],{},"Sim-to-Real 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Isaac",{},"\u002Fglossary\u002Fzh\u002Fsim-to-real",{"title":98,"description":170},"glossary\u002Fzh\u002Fsim-to-real","SIqW14dLpX-sh74cSNPCcadVtbF1g-rBDc9vkNN_Wkc",{"id":178,"title":179,"alternateName":180,"body":181,"description":234,"extension":87,"keywords":235,"meta":236,"navigation":90,"path":237,"seo":238,"stem":239,"updated":94,"__hash__":240},"glossary\u002Fglossary\u002Fzh\u002Fhollow-shaft-motor.md","中空轴电机","Hollow Shaft Motor",{"type":9,"value":182,"toc":230},[183,187,192,196,199,210,216,219],[12,184,186],{"id":185},"中空轴电机是什么","中空轴电机是什么？",[17,188,189,191],{},[20,190,179],{},"是指输出轴中心带有贯通孔的电机\u002F执行器结构。与实心轴方案相比，它允许线缆、液压管路与传感线束直接从关节旋转中心穿过，而不必绕关节外侧走线。",[25,193,195],{"id":194},"为什么机器人需要中空轴","为什么机器人需要中空轴？",[17,197,198],{},"高自由度机器人（如 31 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倾覆力矩",{},"\u002Fglossary\u002Fzh\u002Fcrossed-roller-bearing",{"title":243,"description":304},"glossary\u002Fzh\u002Fcrossed-roller-bearing","zc33sdLTwo_bgH5zyz9-e-277THgc8_9gdfwV0RgRck",{"id":312,"title":68,"alternateName":313,"body":314,"description":400,"extension":87,"keywords":401,"meta":402,"navigation":90,"path":403,"seo":404,"stem":405,"updated":94,"__hash__":406},"glossary\u002Fglossary\u002Fzh\u002Fjoint-motor.md","Joint Motor \u002F Robot Actuator",{"type":9,"value":315,"toc":396},[316,320,325,328,372,375,389],[12,317,319],{"id":318},"关节电机是什么","关节电机是什么？",[17,321,322,324],{},[20,323,68],{},"（也称机器人关节模组、一体化执行器）是将无框力矩电机、减速器、编码器、驱动器与轴承集成在同一紧凑结构内的机器人动力部件。它直接安装在机器人的关节处，输出受控的扭矩与转角，是人形机器人、四足机器人与机械臂的\"肌肉\"。",[25,326,327],{"id":327},"核心组成",[37,329,330,336,345,354,363],{},[40,331,332,335],{},[20,333,334],{},"无框力矩电机","：提供原始扭矩，直接决定动力上限。",[40,337,338,341,342,344],{},[20,339,340],{},"减速器","：以转速换扭矩，常见方案有",[65,343,228],{"href":227},"与谐波减速器。",[40,346,347,350,351,353],{},[20,348,349],{},"编码器","：测量转角用于闭环控制，高端方案采用",[65,352,284],{"href":283},"。",[40,355,356,359,360,353],{},[20,357,358],{},"轴承","：承受负载并保证回转精度，承力关节多用",[65,361,243],{"href":362},"\u002Fglossary\u002Fcrossed-roller-bearing",[40,364,365,368,369,371],{},[20,366,367],{},"驱动器","：执行电流环\u002F速度环\u002F位置环控制，通过 CAN\u002FCANFD 等总线接收指令（见 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