Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Abstract

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of manipulation, balancing and interaction as one optimization problem for an inherently unstable robot. The optimization is performed using a Model Predictive Control (MPC) approach; the optimal control problem is transcribed at the end-effector space, treating the position and orientation tasks in the MPC planner, and skillfully planning for end-effector contact forces. The proposed formulation evaluates how the control decisions aimed at end-effector tracking and environment interaction will affect the balance of the system in the future. We showcase the advantages of the proposed MPC approach on the example of a ball-balancing robot with a robotic manipulator and validate our controller in hardware experiments for tasks such as end-effector pose tracking and door opening.

References in corpus (5)

• An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion
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Cited by in corpus (10)

• Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
• Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
• Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
• Deep Value Model Predictive Control
• Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning
• A Versatile Door Opening System with Mobile Manipulator through Adaptive Position-Force Control and Reinforcement Learning
• Model Predictive Control for Trajectory Tracking on Differentiable Manifolds
• Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning
• Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
• Improved Reinforcement Learning Coordinated Control of a Mobile Manipulator using Joint Clamping