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cs.RO2019★ 2 cited
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
Weiqiao Han, Russ Tedrake
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initi…
math.AG2019
Singularities and Genus of the k-Ellipse
Yuhan Jiang, Weiqiao Han
A k-ellipse is a plane curve consisting of all points whose distances from k fixed foci sum to a constant. We determine the singularities and genus of its Zariski closure in the co…