2 papers
cs.RO2026
Kinematic Reward, Measured Effort: Hardware-Validated RL Morphology Optimization of a Planar 2R Manipulator
Gunesh Gupta, Arvind Kumar Mishra, Sohom Chakrabarty
Yoshikawa's Manipulability Index is generally used as a classical measure to define an optimal morphology of a manipulator. However, any such optimization is almost always studied…
cs.RO2025
Task-Aware Morphology Optimization of Planar Manipulators via Reinforcement Learning
Arvind Kumar Mishra, Sohom Chakrabarty
In this work, Yoshikawa's manipulability index is used to investigate reinforcement learning (RL) as a framework for morphology optimization in planar robotic manipulators. A 2R ma…