Learning Reduced-Order Soft Robot Controller
Chen Liang,Xifeng Gao,Kui Wu,Zherong Pan,Chen Liang,Xifeng Gao,Kui Wu,Zherong Pan
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while learning-based controller optimization methods are sensitive to hyper-parameter tuning. To overcome these limitations, we hypothesize that high fidelity soft robots can b...
