Uploaded August 2023 | Updated September 2026, 2 hours ago
This video benchmarks our Predictive Kinematics Controller (PKC), that uses model predictive control, with two local redundancy resolution approaches: Resolved Motion Rate Control (RMRC) and Automatic Supervisory Control (ASC). In the simulation, the PKC avoids the obstacle with a bigger distance than the local approaches as it early predicts the approaching obstacle. In the experiment, the PKC early predicts the configuration of low manipulability and appropriately updates the nullspace motion. For the PKC, we use a horizon length of 1.5 seconds and a step size of 0.1 seconds for the underlying MPC.
This video benchmarks our Predictive Kinematics Controller (PKC), that uses model predictive control, with two local redundancy resolution approaches: Resolved Motion Rate Control (RMRC) and Automatic Supervisory Control (ASC). In the simulation, the PKC avoids the obstacle with a bigger distance than the local approaches as it early predicts the approaching obstacle. In the experiment, the PKC early predicts the configuration of low manipulability and appropriately updates the nullspace motion. For the PKC, we use a horizon length of 1.5 seconds and a step size of 0.1 seconds for the underlying MPC.
