Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes

Abstract

This study investigates kinodynamic object manipulation by a robot using a tool. Based on the conditions for maintaining contact between a held spatula and a manipulated object, a variety of movements satisfying such conditions are planned. Model predictive control is introduced to plan an optimal trajectory. Simulation results show that the proposed method plans a variety of turning over motions with different setups of cost functions. Experimental results demonstrate that the trajectory optimization method accomplishes turning over motion, which is a typical example of motion with kinodynamic constraints.