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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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 6; no. 3; pp. 4688 - 4695
Main Authors: Sleiman, Jean-Pierre, Farshidian, Farbod, Minniti, Maria Vittoria, Hutter, Marco
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.07.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
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
Online Access:Get full text
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Summary: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.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3068908