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dc.contributor.author
Minniti, Maria V.
dc.contributor.author
Farshidian, Farbod
dc.contributor.author
Grandia, Ruben
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2020-06-29T07:50:06Z
dc.date.available
2020-01-08T19:47:03Z
dc.date.available
2020-06-29T07:50:06Z
dc.date.issued
2019-11
dc.identifier.uri
http://hdl.handle.net/20.500.11850/388708
dc.description.abstract
Autonomous mobile manipulation is the cutting edge of the modern robotic technology, which offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. A common approach for controlling these systems is based on the task space control. In a nutshell, a task space controller defines a map from user-defined end-effector references to the actuation commands based on an optimization problem over the distance between the reference trajectories and the physically consistent motions. The optimization however ignores the effect of the current decision on the future error, which limits the applicability of the approach for dynamically stable platforms. On the contrary, the Model Predictive Control (MPC) approach offers the capability of foreseeing the future and making a trade-off in between the current and future tracking errors. Here, we transcribe the task at the end-effector space, which makes the task description more natural for the user. Furthermore, we show how the MPC-based controller skillfully incorporates the reference forces at the end-effector in the control problem. To this end, we showcase here the advantages of using this MPC approach for controlling a ball-balancing mobile manipulator, Rezero. We validate our controller on the hardware for tasks such as end-effector pose tracking and door opening.
en_US
dc.language.iso
en
en_US
dc.title
Whole-body MPC for a dynamically stable mobile manipulator
en_US
dc.type
Other Conference Item
ethz.event
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
en_US
ethz.event.location
Macau, China
en_US
ethz.event.date
4 November 2019
en_US
ethz.notes
Conference lecture on November 4, 2019.
en_US
ethz.publication.status
unpublished
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.tag
Talk given at a conference
en_US
ethz.relation.isVariantFormOf
10.3929/ethz-b-000353053
ethz.date.deposited
2020-01-08T19:47:15Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2020-06-29T07:50:36Z
ethz.rosetta.lastUpdated
2020-06-29T07:50:36Z
ethz.rosetta.versionExported
true
ethz.COinS
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