Simulations demonstrate that the extraneous torque compensator based on CMAC is not only superior to the traditional one,but also robust.

• 仿真结果表明,小脑模型关节控制器多余力矩补偿器抑制多余力矩的效果要远远优于传统多余力矩补偿器,且具有良好的鲁棒性。