TOPP-MPC-Based Dual-Arm Dynamic Collaborative Manipulation for Multi-Object Nonprehensile Transportation
Cheng Zhou,Maolin Lei,Longfei Zhao,Zunran Wang,Yu Zheng,Cheng Zhou,Maolin Lei,Longfei Zhao,Zunran Wang,Yu Zheng
This paper presents a unified controller for dual-arm robot dynamic multi-object nonprehensile transportation. The controller is composed of time-optimal path parameteri-zation (TOPP) and model predictive control (MPC) and aimed at efficiently and dynamically transporting objects using the dual-arm robot under physical constraints while avoiding the slippage of the objects. A force tracking contro...
