2 papers
eess.SY2026
Real-Time Reference Shaping for Servo Systems
Zehui Lu, Yebin Wang, Go Sato +1
This paper addresses real-time motion planning for servo systems subject to nonlinear, state-dependent actuator constraints. A reference reshaping method is proposed that combines…
cs.RO2024
A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators
Zehui Lu, Yebin Wang
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator desi…