2 papers
cs.RO2023
Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics
Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados +2
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-spe…
cs.RO2022
Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine
Kun Wang, William R. Johnson, Shiyang Lu +5
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terra…