control/
Differential-drive MPC, dock-approach controller, manipulation policy, and curbedge detection for Free Humanoid Wheeled.
This directory will hold:
- Low-level differential-drive kinematics + per-wheel PID. Standard textbook differential-drive (state: x, y, heading, linear and angular velocity; control: left and right wheel torque). Cycle 200–500 Hz on the control compute domain.
- Differential-drive MPC. Horizon ~1 s, cycle ~50 Hz. Constraints: linear velocity ≤ 1.5 m/s, angular velocity ≤ 1.0 rad/s. Cost: tracking-error + smoothness + obstacle-avoidance penalty. Hands off to the safety supervisor on slope-tilt or edge-proximity violations.
- Dock approach controller. Fine-positioning relative to the dock’s optical fiducial (head stereo camera + dock-burst optical handshake from shoal ARCHITECTURE §4). Targets ±20 mm positional accuracy at the cartridge port.
- Curbedge detection. Lidar ground-plane processing on the perception domain; binary “edge ahead” signal subscribed by the safety supervisor.
- Manipulation policy. Inherited from the bipedal sibling — imitation-learning baseline (ACT or diffusion-policy variant) for cartridge-swap and waste-hopper retrieval. VLA upgrade path documented but not v0.1.
- Whole-body MPC for upper-body manipulation while the base is wheel-locked (
cartridge_swap, waste_retrieval modes). Inherits the bipedal sibling’s whole-body MPC reduced to upper-body-only.
Cross-references
Status
v0.1 scaffold. Differential-drive MPC + curbedge detection + dock-approach controller are Phase 1 deliverables (closed-loop in MuJoCo).