Author

Peng Lu

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Preprint Nov 2026

Riemannian Optimization-based Whole-body Obstacle Avoidance for Mobile Continuum Robots in Cluttered Environments

Inspired by the coordination of global motion and local shape adaptation in snakes, elephant trunks, and octopus arms, we propose a unified planning and control framework for mobile continuum robots in cluttered and confined environments. Existing approaches often address high-level path planning and local motion contr...

Duo Tang, P. Deng, SF Armanini et al. · 0 citations

Preprint Aug 2026

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

This work proposes a hierarchical reinforcement learning pipeline that empowers the robots to perform aggressive locomotion through constrained obstacles--a narrow gate, extending the lifelike agility of legged robots to match that of their biological counterparts.

Zeren Luo, Jiahui Zhang, Yimin Han et al. · 1 citation