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Manipulators can be added to legged robots, allowing them to interact withand change their environment. Legged mobile manipulation planners must considerhow contact forces generated by these manipulators affect the system. Currentplanning strategies either treat these forces as immutable during planning orare unable to optimize over these contact forces while operating in real-time.This paper presents the Stability and Task Oriented Receding-Horizon Motion andManipulation Autonomous Planner (STORMMAP) that is able to generate continuousplans for the robot's motion and manipulation force trajectories that ensuredynamic feasibility and stability of the platform, and incentivizesaccomplishing manipulation and motion tasks specified by a user. STORMMAP usesa nonlinear optimization problem to compute these plans and is able to run inreal-time by assuming contact locations are given a-priori, either by a user oran external algorithm. A variety of simulated experiments on a quadruped with amanipulator mounted to its torso demonstrate the versatility of STORMMAP. Incontrast to existing state of the art methods, the approach described in thispaper generates continuous plans in under ten milliseconds, an order ofmagnitude faster than previous strategies.

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation