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cs.RO2024
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
cs.RO2024
Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation
Yiming Li, Yan Zhang, Amirreza Razmjoo +1
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic…