Reactive planar nonprehensile manipulation with hybrid model predictive control
This article presents an offline solution and online approximation to the hybrid control problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are key characteristics of this task that complicate the design of feedback controllers. We show that a model predictive control...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publications
2022
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| Online Access: | https://hdl.handle.net/1721.1/141404 |
| _version_ | 1826192331162779648 |
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| author | Hogan, Francois R Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Hogan, Francois R Rodriguez, Alberto |
| author_sort | Hogan, Francois R |
| collection | MIT |
| description | This article presents an offline solution and online approximation to the hybrid control problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are key characteristics of this task that complicate the design of feedback controllers. We show that a model predictive control approach used in tandem with integer programming offers a powerful solution to capture the dynamic constraints associated with the friction cone as well as the hybrid nature of contact. We introduce the Model Predictive Controller with Learned Mode Scheduling (MPC-LMS), which leverages integer programming and machine learning techniques to effectively deal with the combinatorial complexity associated with determining sequences of contact modes. We validate the controller design through a numerical simulation study and with experiments on a planar manipulation setup using an industrial ABB IRB 120 robotic arm. Results show that the proposed algorithm achieves closed-loop tracking of a nominal trajectory by reasoning in real-time across multiple contact modalities. |
| first_indexed | 2024-09-23T09:10:08Z |
| format | Article |
| id | mit-1721.1/141404 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:10:08Z |
| publishDate | 2022 |
| publisher | SAGE Publications |
| record_format | dspace |
| spelling | mit-1721.1/1414042023-04-20T14:36:26Z Reactive planar nonprehensile manipulation with hybrid model predictive control Reactive planar non-prehensile manipulation with hybrid model predictive control Hogan, Francois R Rodriguez, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering This article presents an offline solution and online approximation to the hybrid control problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are key characteristics of this task that complicate the design of feedback controllers. We show that a model predictive control approach used in tandem with integer programming offers a powerful solution to capture the dynamic constraints associated with the friction cone as well as the hybrid nature of contact. We introduce the Model Predictive Controller with Learned Mode Scheduling (MPC-LMS), which leverages integer programming and machine learning techniques to effectively deal with the combinatorial complexity associated with determining sequences of contact modes. We validate the controller design through a numerical simulation study and with experiments on a planar manipulation setup using an industrial ABB IRB 120 robotic arm. Results show that the proposed algorithm achieves closed-loop tracking of a nominal trajectory by reasoning in real-time across multiple contact modalities. 2022-03-30T14:11:03Z 2022-03-30T14:11:03Z 2020 2022-03-30T13:55:25Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/141404 Hogan, Francois R and Rodriguez, Alberto. 2020. "Reactive planar nonprehensile manipulation with hybrid model predictive control." International Journal of Robotics Research, 39 (7). en 10.1177/0278364920913938 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf SAGE Publications Prof. Rodriguez Garcia via Elizabeth Kuhlman |
| spellingShingle | Hogan, Francois R Rodriguez, Alberto Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title | Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title_full | Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title_fullStr | Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title_full_unstemmed | Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title_short | Reactive planar nonprehensile manipulation with hybrid model predictive control |
| title_sort | reactive planar nonprehensile manipulation with hybrid model predictive control |
| url | https://hdl.handle.net/1721.1/141404 |
| work_keys_str_mv | AT hoganfrancoisr reactiveplanarnonprehensilemanipulationwithhybridmodelpredictivecontrol AT rodriguezalberto reactiveplanarnonprehensilemanipulationwithhybridmodelpredictivecontrol |