Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the MPC framework. An algorithm called Multi-Contact Particle Fil...

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Veröffentlicht in:	arXiv.org 2024-03
Hauptverfasser:	Han, Seo Wook, Iskandar, Maged, Lee, Jinoh, Kim, Min Jun
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Computer Science - Robotics Control theory Feedback loops Interactive control Predictive control Real time Robot control
Online-Zugang:	Volltext
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