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cs.RO2023
Learning Reduced-Order Soft Robot Controller
Chen Liang, Xifeng Gao, Kui Wu +1
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimension…
cs.RO2023
Second-Order Convergent Collision-Constrained Optimization-Based Planner
Chen Liang, Xifeng Gao, Kui Wu +1
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is…