Author

Kai Cheng

Purdue University

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Manip4Care+: Constraint-RRTConnect with Learning-Based Constraint Checking for Assistive Limb Manipulation

This paper presents Manip4Care+, which extends a modular simulation pipeline for grasping and repositioning human limbs using constrained MPPI and vector-field tracking with a projection-based Constraint-RRTConnect planner and a learned constraint checker for coupled robot–human states.

Kai Cheng, Yi Wu, A. H. Qureshi · 0 citations