2023
Dynamic Obstacle Avoidance for Cable-Driven Parallel Robots With Mobile Bases via Sim-to-Real Reinforcement Learning
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