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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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 40; pp. 3879 - 3896
Main Authors:	Aydinoglu, Alp, Wei, Adam, Huang, Wei-Cheng, Posa, Michael
Format:	Journal Article
Language:	English
Published:	IEEE 2024
Subjects:	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 Access:	Get full text
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