A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

• URL: http://arxiv.org/abs/2203.03391v1
• Date: Wed, 2 Mar 2022 14:54:10 GMT
• Title: A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control
• Authors: Qingfeng Yao, Jilong Wan, Shuyu Yang, Cong Wang, Linghan Meng, Qifeng Zhang, Donglin Wang
• Abstract summary: Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot. We propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller.
• Score: 15.044159090957292
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller. Our method can adapt well to various types of robotic arms with a few random motion samples and the experimental results demonstrate the effectiveness of our method.

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