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cs.RO2024
Towards Online Safety Corrections for Robotic Manipulation Policies
Ariana Spalter, Mark Roberts, Laura M. Hiatt
Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce ma…
cs.RO2023
Collision-Free Inverse Kinematics Through QP Optimization (iKinQP)
Julia Ashkanazy, Ariana Spalter, Joe Hays +3
Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulat…