Context
At Plaif, we developed a robotic arm manipulation system. The goal was smooth, constraint-aware coordination between two 6-DoF manipulators for production tasks.
My Contribution
- Designed and implemented the MPC local planner
- Enforced constraints and task-space objectives
- Deployed and validated the system on real hardware
Technical details
The controller:
- Solves a constrained optimization problem at control frequency
- Tracks task-space trajectories
- Couples both arms through shared task objectives
Stack:
- Kinematic modeling: Pinocchio
- QP-based optimization: osqp-eigen
- Hardware integration: a custom modular framework of Plaif (non-ROS)
Impact
- Enabled coordinated manipulation in production workflows
- Deployed on real hardware
- Demonstrated at CoRL 2025
Video
TODO: Add a caption describing the demo setup, task, and what coordination/constraints are visible.