A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constr...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 6; H. 3; S. 4688 - 4695
Hauptverfasser: Sleiman, Jean-Pierre, Farshidian, Farbod, Minniti, Maria Vittoria, Hutter, Marco
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.07.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Airborne/spaceborne computers
Dynamics
End effectors
Equations of motion
Gait
Legged robots
Locomotion
Manipulator dynamics
Mathematical model
mobile manipulation
Model testing
multi-contact whole-body motion planning and control
Optimal control
optimization and optimal control
Predictive control
Robot dynamics
Robot kinematics
Robots
Schedules
Task analysis
ISSN:2377-3766, 2377-3766
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Abstract In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Since the system is designed to actively manipulate its environment, the equations of motion are composed by augmenting the robot's centroidal dynamics with the manipulated-object dynamics. This allows us to describe any high-level task in the same cost/constraint function. The resulting planning framework could be solved on the robot's onboard computer in real-time within a model predictive control scheme. This is demonstrated in a set of real hardware experiments done in free-motion, such as base or end-effector pose tracking, and while pushing/pulling a heavy resistive door. Robustness against model mismatches and external disturbances is also verified during these test cases.
AbstractList In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Since the system is designed to actively manipulate its environment, the equations of motion are composed by augmenting the robot's centroidal dynamics with the manipulated-object dynamics. This allows us to describe any high-level task in the same cost/constraint function. The resulting planning framework could be solved on the robot's onboard computer in real-time within a model predictive control scheme. This is demonstrated in a set of real hardware experiments done in free-motion, such as base or end-effector pose tracking, and while pushing/pulling a heavy resistive door. Robustness against model mismatches and external disturbances is also verified during these test cases.
Author Sleiman, Jean-Pierre
Minniti, Maria Vittoria
Hutter, Marco
Farshidian, Farbod
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  orcidid: 0000-0002-9935-8787
  surname: Sleiman
  fullname: Sleiman, Jean-Pierre
  email: jsleiman@ethz.ch
  organization: Robotic Systems Lab, ETH Zurich, Zurich, Switzerland
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  givenname: Farbod
  orcidid: 0000-0001-8269-6272
  surname: Farshidian
  fullname: Farshidian, Farbod
  email: farshidian@mavt.ethz.ch
  organization: Robotic Systems Lab, ETH Zurich, Zurich, Switzerland
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  givenname: Maria Vittoria
  orcidid: 0000-0001-7272-0937
  surname: Minniti
  fullname: Minniti, Maria Vittoria
  email: mariavittoria.minniti@mavt.ethz.ch
  organization: Robotic Systems Lab, ETH Zurich, Zurich, Switzerland
– sequence: 4
  givenname: Marco
  orcidid: 0000-0002-4285-4990
  surname: Hutter
  fullname: Hutter, Marco
  email: mahutter@ethz.ch
  organization: Robotic Systems Lab, ETH Zurich, Zurich, Switzerland
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Snippet In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal...
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SubjectTerms Airborne/spaceborne computers
Dynamics
End effectors
Equations of motion
Gait
Legged robots
Locomotion
Manipulator dynamics
Mathematical model
mobile manipulation
Model testing
multi-contact whole-body motion planning and control
Optimal control
optimization and optimal control
Predictive control
Robot dynamics
Robot kinematics
Robots
Schedules
Task analysis
Title A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
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