whole-body control with MPPI for Mobile Manipulator

TrobleShooting

What is MPPI ?

CUDA, cuDNN, Pytorch 설치 방법

CMake 최신 버전 설치 방법 (3.22)

MPPI 정리 + WBC based on HQP 요약 PPT

MPPI 정리 + WBC based on HQP 요약 PPT

.bashrc

Preliminaries

Dynamics for Non-holonomic and holonomic MOMA

Papers related to Whole-body control based on HQP

continuous task transition : activation parameter B를 추가해 inequality, equality task의 priority를 부여

continuous task transition : activation parameter B를 추가해 inequality, equality task의 priority를 부여

[11] 참고논문 Hierarchical quadratic programming: Fast online humanoid-robot motion generation.pdf

A_Holistic_Approach_to_Reactive_Mobile_Manipulation.pdf

Advanced Point of MPPI better than HQP