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Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

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-sampli

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