Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Parker Ewen Jean-Pierre Sleiman Yuxin Chen Wei-Chun Lu Marco Hutter Ram Vasudevan Parker Ewen Jean-Pierre Sleiman Yuxin Chen Wei-Chun Lu Marco Hutter Ram Vasudevan
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current planning strategies either treat these forces as immutable during planning or are unable to optimize over these contact forces while operating in real-time. This paper...