Huanhui Cao — accepted AI-conference papers

2023

Dynamic Obstacle Avoidance for Cable-Driven Parallel Robots With Mobile Bases via Sim-to-Real Reinforcement Learning

Yuming Liu, Zhihao Cao, Hao Xiong, Junfeng Du, Huanhui Cao, Lin Zhang

RA-L 2023

A Cable-Driven Parallel Robot (CDPR) with Mobile Bases (MBs) can modify its geometric architecture and is suitable for manipulation tasks in constrained environments. In manipulation tasks, a CDPR with MBs inevitably encounters obstacles, including dynamic obstacles. However, the high dimensional st

Cited by 31 Source ↗Scholar ↗

2022

Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions

Yongwei Zou, Yusheng Hu, Huanhui Cao, Yuchen Xu, Yuanjie Yu, Wenjie Lu +1

IROS 2022poster

Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-fre…

Cited by 10 Source ↗Scholar ↗