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Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of manipulation, balancing and interaction as one optimization problem over the same time horizon for an inherently unstable robot. The optimization is performed using a Model Predictive Control (MPC) approach; the optimal con- trol problem is transcribed at the end-effector s
