Preprint Open access
SwingRL: Adaptive Observation Reinforcement Learning with World-Model Prediction for Cable-Suspended Hoisting Control
Cable-suspended hoisting is widely used to move heavy or bulky payloads that cannot be handled conveniently by rigid pick-and-place systems, for example in crane-assisted construction. Robotic hoisting using flexible cables is challenging because payload motion is underactuated, external disturbances vary, and delayed …