3 accepted papers
End-to-end robotic grasping increasingly relies on reinforcement learning to enable safe and precise execution, yet defining a reward that consistently drives such behavior remains a central challenge. Human-engineered rewards have been widely explored, but they are prone to reward hacking, depend h…
This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF…
This paper proposes a method for path planning of high-degree of freedom (DOF) articulated robots with adaptive dimensionality. For an efficient path planning in high-dimensional C-space (configuration space), first we describe an adaptive body selection that selects the robot bodies and joints depe…