Perceptive Model Predictive Control for Continuous Mobile Manipulation

Johannes Pankert & Marco Hutter
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...
This data repository is not currently reporting usage information. For information on how your repository can submit usage information, please see our documentation.