A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

@article{Sleiman2021AUM,
  title={A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation},
  author={Jean-Pierre Sleiman and Farbod Farshidian and Maria Vittoria Minniti and Marco Hutter},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  volume={6},
  pages={4688-4695}
}
In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Since the system is designed to actively manipulate its environment, the equations of motion are… 

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