Consensus Complementarity Control for Multicontact MPC

We propose a hybrid model predictive control algorithm, consensus complementarity control, for systems that make and break contact with their environment. Many state-of-the-art controllers for tasks, which require initiating contact with the environment, such as locomotion and manipulation, require...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 40; S. 3879 - 3896
Hauptverfasser:	Aydinoglu, Alp, Wei, Adam, Huang, Wei-Cheng, Posa, Michael
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 2024
Schlagworte:	Cognition Contact modeling dexterous manipulation Heuristic algorithms Mathematical models multicontact control optimization and optimal control Real-time systems Robots Task analysis Vectors
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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