Whole-Body MPC for a Dynamically Stable Mobile Manipulator
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DOI: 10.1109/lra.2019.2927955
Abstract: Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this letter, we present a whole-body optimal control framework to jointly solve the problems… read more here.
Keywords: manipulator; body mpc; whole body; end effector ... See more keywords