An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
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arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909372176662528 |
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| author | Du, Wenqian Long, Ran Moura, João Wang, Jiayi Samadi, Saeid Vijayakumar, Sethu |
| author_facet | Du, Wenqian Long, Ran Moura, João Wang, Jiayi Samadi, Saeid Vijayakumar, Sethu |
| contents | Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while meeting various hard constraints for such highly redundant mobile manipulators poses a significant challenge. We tackle this challenge by presenting an efficient representation of whole-body motion trajectories within our bilevel model-based predictive control (MPC) framework. We utilize Bézier-curve parameterization to represent the optimized collision-free trajectories of two collaborating end-effectors in the first MPC, facilitating fast long-horizon object-oriented motion planning in SE(3) while considering approximated feasibility constraints. This approach is further applied to parameterize whole-body trajectories in the second MPC for whole-body motion generation with predictive admittance control in a relatively short horizon while satisfying whole-body hard constraints. This representation enables two MPCs with continuous properties, thereby avoiding inaccurate model-state transition and dense decision-variable settings in existing MPCs using the discretization method. It strengthens the online execution of the bilevel MPC framework in high-dimensional space and facilitates the generation of consistent commands for our hybrid position/velocity-controlled robot. The simulation comparisons and real-world experiments demonstrate the efficiency and robustness of this approach in various scenarios for static and dynamic obstacle avoidance, and compliant interaction control with the manipulated object and external disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_22910 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation Du, Wenqian Long, Ran Moura, João Wang, Jiayi Samadi, Saeid Vijayakumar, Sethu Robotics Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while meeting various hard constraints for such highly redundant mobile manipulators poses a significant challenge. We tackle this challenge by presenting an efficient representation of whole-body motion trajectories within our bilevel model-based predictive control (MPC) framework. We utilize Bézier-curve parameterization to represent the optimized collision-free trajectories of two collaborating end-effectors in the first MPC, facilitating fast long-horizon object-oriented motion planning in SE(3) while considering approximated feasibility constraints. This approach is further applied to parameterize whole-body trajectories in the second MPC for whole-body motion generation with predictive admittance control in a relatively short horizon while satisfying whole-body hard constraints. This representation enables two MPCs with continuous properties, thereby avoiding inaccurate model-state transition and dense decision-variable settings in existing MPCs using the discretization method. It strengthens the online execution of the bilevel MPC framework in high-dimensional space and facilitates the generation of consistent commands for our hybrid position/velocity-controlled robot. The simulation comparisons and real-world experiments demonstrate the efficiency and robustness of this approach in various scenarios for static and dynamic obstacle avoidance, and compliant interaction control with the manipulated object and external disturbances. |
| title | An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.22910 |