Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Maria Vittoria Minniti,Ruben Grandia,Kevin Fäh,Farbod Farshidian,Marco Hutter,Maria Vittoria Minniti,Ruben Grandia,Kevin Fäh,Farbod Farshidian,Marco Hutter
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body motions while including different constraints imposed by the robot dynamics or its environment. However, an accurate model of the robot-environment is needed to achi...
