采用输出信号的广义高斯分布近似，基于互信息最小化目标函数自适应调整均衡器的系数。
Based on method of minimizing of mutual information and approximated generalized Gaussian distribution of equalized output signal, the equalizer changes its coefficients adaptively.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
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