Whole-Body MPC for a Dynamically Stable Mobile Manipulator
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 over the same time horizon for an
inherently unstable robot. The optimization is performed using
a Model Predictive Control (MPC) approach; the optimal con-
trol problem is transcribed at the end-effector s
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