Perceptive Model Predictive Control for Continuous Mobile Manipulation
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Author / Producer
Date
2020-10
Publication Type
Journal Article
ETH Bibliography
yes
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Abstract
A mobile robot needs to be aware of its environment to interact with it safely. We propose a receding horizon control scheme for mobile manipulators that tracks task space reference trajectories. It uses visual information to avoid obstacles and haptic sensing to control interaction forces. Additional constraints for mechanical stability and joint limits are met. The proposed method is faster than state of the art sampling based planners, available as opensource and can be implemented on a broad class of robots. We validate the method both in simulation and through extensive hardware experiments with a multitude of mobile manipulation platforms. The resulting software package is released with this paper.
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Publication status
published
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Journal / series
Volume
5 (4)
Pages / Article No.
6177 - 6184
Publisher
IEEE
Event
Edition / version
Methods
Software
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Date collected
Date created
Subject
Mobile Manipulation; Robotics in Construction; Whole-Body Motion Planning and Control
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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