Multi-Arm Robotic Systems (MARS)

Model and Simulation

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Path Planning

Dynamic Planning

Trajectory Generation

Time-Optimal Path Parametrization (TOPP)

Model Predictive Path Following

Optimal Control

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Hierarcical Quadractic Programming (HQP) Optimal Control

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Model Predictive Control (MPC)

Citation

@inproceedings{hqp2023dio,
  author={Dio, Maximilian and Völz, Andreas and Graichen, Knut},
  title={Cooperative Dual-Arm Control for Heavy Object Manipulation Based on Hierarchical Quadratic Programming}, 
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  year={2023},
  pages={643-648}
}