• Corpus ID: 233423287

Fast Joint Space Model-Predictive Control for Reactive Manipulation

  title={Fast Joint Space Model-Predictive Control for Reactive Manipulation},
  author={Mohak Bhardwaj and Balakumar Sundaralingam and Arsalan Mousavian and Nathan D. Ratliff and Dieter Fox and Fabio Ramos and Byron Boots},
Sampling-based model predictive control (MPC) is a promising tool for feedback control of robots with complex and non-smooth dynamics and cost functions. The computationally demanding nature of sampling-based MPC algorithms is a key bottleneck in their application to high-dimensional robotic manipulation problems. Previous methods have addressed this issue by running MPC in the task space while relying on a low-level operational space controller for joint control. However, by not using the… 

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