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Lecture 17 - Optimization and Learning for Robot Control - MPC on real manipulators
Автор: Andrea Del Prete
Загружено: 2025-11-03
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In the first part of this lecture we see an implementation of Model Predictive Control running at 100 Hz on a real 6-DoF robot manipulator (Unitree Z1). The controller makes the robot's end-effector track an object, whose position is detected using a motion capture system. The robot has to avoid self-collision and collisions with the environment, which consists of a table and a window-like object formed by 3 cylinders.
In the second part of the lecture we see a QP-based inverse dynamics controller running at 500 Hz on a Franka robot manipulator.
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