Whole-body model predictive control with rigid contacts via online switching time optimization
Sotaro Katayama,Toshiyuki Ohtsuka,Sotaro Katayama,Toshiyuki Ohtsuka
This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO). We treat robot dynamics with rigid contacts as a switched system and formulate an optimal control problem of switched systems to implement the MPC. We utilize an efficient solution algorithm for the MPC problem that o...
