Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework
Jin Cheng,Firas Abi-Farraj,Farbod Farshidian,Marco Hutter,Jin Cheng,Firas Abi-Farraj,Farbod Farshidian,Marco Hutter
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This relatively slow update rate hinders the possibility of stable haptic teleoperation of such systems since the slow feedback loops can cause instabilities and loss of tr...
