A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
Jia-Ruei Chiu,Jean-Pierre Sleiman,Mayank Mittal,Farbod Farshidian,Marco Hutter,Jia-Ruei Chiu,Jean-Pierre Sleiman,Mayank Mittal,Farbod Farshidian,Marco Hutter
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme that solves a multi-contact optimal control problem. By penalizing the signed distances among a set of representative primitive collision bodies, the robot is abl...
