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dc.contributor.author
Pankert, Johannes
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2020-09-11T04:57:53Z
dc.date.available
2020-09-11T04:57:53Z
dc.date.issued
2020-10
dc.identifier.issn
2377-3766
dc.identifier.other
10.1109/LRA.2020.3010721
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/439902
dc.identifier.doi
10.3929/ethz-b-000426821
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Mobile Manipulation
en_US
dc.subject
Robotics in Construction
en_US
dc.subject
Whole-Body Motion Planning and Control
en_US
dc.title
Perceptive Model Predictive Control for Continuous Mobile Manipulation
en_US
dc.type
Journal Article
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2020-07-21
ethz.journal.title
IEEE Robotics and Automation Letters
ethz.journal.volume
5
en_US
ethz.journal.issue
4
en_US
ethz.pages.start
6177
en_US
ethz.pages.end
6184
en_US
ethz.size
8 p. accepted version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
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
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
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.date.deposited
2020-07-17T11:19:13Z
ethz.source
FORM
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2020-09-11T04:58:12Z
ethz.rosetta.lastUpdated
2021-02-15T17:09:50Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/426821
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/439498
ethz.COinS
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