The Institute for Nonlinear Mechanics invites you to the INM Spotlight Talk by Mohamed Abou-Taleb entitled „Optimization-Based Control for Dual-Arm Parcel Manipulation.“
The presentation is intended for students and staff and will take place on Tuesday, 05 May 2026, at 15:45 at the Institute for Nonlinear Mechanics (INM), room V 3.153, Pfaffenwaldring 9.
Abstract
This work presents an optimization-based control framework for dual-arm robotic parcel manipulation, addressing the challenges of nonsmooth dynamics such as frictional contact. The proposed approach divides the task into two steps: a grasping phase using task-space position control and a manipulation phase driven by two optimization layers. A high-level Model Predictive Control (MPC) layer determines the necessary accelerations and forces, while a low-level Quadratic Programming (QP) controller computes the optimal motor torques required to satisfy physical constraints and torque limits. Numerical simulations demonstrate robustness against model uncertainties, successfully manipulating parcels that differ in weight and width from the expected parameters.
