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...