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cs.RO2026
Stability-aware Residual Reinforcement Learning Framework for Robotic Manipulator Disturbance Compensation
Jihong Kim, Joonhyuk Kwon, Hwa Soo Kim +2
Although conventional controllers and disturbance observers (DOBs) are the standard for precision tracking in manipulators, they suffer from parameter uncertainty, nonlinear fricti…
cs.RO2026
Object Manipulation of the Variable Topology Truss system
Andrew Jang-Ho Bae, Myeongjin Choi, Haorui Li +2
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical…