Model-predictive control for non-prehensile tray-based object transportation
Keywords: manipulation, model predictive control
TL;DR: This paper faces the problem of transporting along a trajectory an object placed on a tray-like end-effector of a robotic manipulator.
Abstract: This document summarizes the latest results achieved in the field of non-prehensile tray-based object transportation. The problem consists in transporting along a trajectory an object placed on a tray-like end-effector of a robotic manipulator preventing it to slide and potentially fall. We developed a model-predictive control approach that computes optimal jerk-based inputs for the considered system to accomplish the task while enforcing both system and non-sliding manipulation constraints. Experiments performed on the RoDyMan humanoid robot validated our approach.
Submission Number: 3
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