CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation
CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation
This paper introduces CRISP, a layered control framework that models high-dimensional system dynamics as interconnected subsystems.
The authors present a layered control framework validated via numerical simulations and hardware experiments on a G1 humanoid robot, demonstrating stable whole-body coordination during dual-arm manipulation.
Source: arXiv Robotics — research abstracts · Read original article ↗
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on. We validate the proposed framework through numerical simulations and hardware experiments on a G1 humanoid robot. The results demonstrate optimal interaction wrenches consistent with simulated contact measurement, cooperative dual-arm trajectory tracking, and stable whole-body coordination while executing the NMPC in online manner.
Open source S5
optimizes the subsystem state trajectories, arm torques, ground reaction forces (GRFs), and interaction wrenches, enabling online wrench design and optimization while preserving the dynamic coupling among the independently modeled subsystems. The optimized arm torques are applied directly for cooperative dual-arm manipulation, whereas the prescribed GRFs are mapped to lower-body joint torque for whole-body coordinati
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org