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This study introduces a real-time Model Predictive Path Integral (MPPI) control framework that integrates rigid-body dynamics and safety constraints for robotic manipulators. By addressing the challenges of nonlinear dynamics in unstructured environments, the framework enables compliant and force-aware manipulation with a high solver update rate exceeding 166 Hz. Experimental validation on a 7-DoF manipulator demonstrates its effectiveness in achieving safe and precise physical interactions.
Achieving over 166 Hz solver updates, this framework enables robots to interact safely and effectively in unpredictable environments.
This study proposes a novel Model Predictive Path Integral (MPPI)-based task-space control framework. The proposed framework explicitly solves rigid-body dynamics within a real-time MPC formulation and enforces safety constraints, enabling accurate motion and force control that yields compliant behaviors for safe and effective physical interaction of robotic manipulators in unstructured environments. By leveraging MPPI, the proposed framework efficiently handles nonlinear dynamics that are difficult to solve with conventional MPC approaches in real-time. Furthermore, we develop a torque-sampling-based control architecture that enables efficient exploitation of GPU-based parallelization, resulting in effective compliant and force-aware behaviors. As a result, the proposed framework achieves a solver update rate of over 166 Hz with a 0.18 s prediction horizon, and its performance is validated through real-world experiments on a 7-DoF manipulator.
