Two MPCs, One Robot: Bézier Curves for Fast, Compliant Mobile Manipulation
Dual-arm mobile manipulators can transport and manipulate large objects with simple end-effectors. Interacting with dynamic environments subject to strict safety and compliance requirements, achieving whole-body motion planning online while maintaining compliance is challenging. This paper presents an efficient whole-body model predictive control approach for online compliant dual-arm mobile manipulation. In this episode of Embodied AI 101, we explore "Two MPCs, One Robot: Bézier Curves for Fast, Compliant Mobile Manipulation". We break down the research, methodology, and real-world…
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