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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