Control Through FABRIK and Residual Reinforcement Learning
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A New Quaternion-Joint Cable-Driven Redundant Manipulator Configuration and its Control Through FABRIK and Residual Reinforcement Learning
arXiv:2606.05236v1 Announce Type: new Abstract: Robotic arms capable of traversing arbitrary spatial paths, especially in highly obstructed workspaces, are highly desired across several industries. Quaternion-joints have recently empowered a specific class of robotic arms -- cable-driven redundant manipulators -- beyond its prior capabilities.