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cs.RO2025
Koopman Model Predictive Control of An Origami-Inspired Soft Exoskeleton for Knee Rehabilitation
Junxiang Wang, Han Zhang, Zehao Wang +3
Knee rehabilitation plays a critical role in restoring patients' mobility and functional independence. Traditional rigid rehabilitation exoskeletons are often bulky and cumbersome…
cs.RO2025
Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
Zehao Wang, Han Zhang, Jingchuan Wang +1
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the cen…