Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang,Bike Zhang,Jun Zeng,Ayush Agrawal,Koushil Sreenath,Chenyu Yang,Bike Zhang,Jun Zeng,Ayush Agrawal,Koushil Sreenath
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control (MPC) framework for a quadrupedal robot to dynamically balance on a ball and simultaneously manipulate it to follow various trajectories such as straight lines, sin...
