1 citations · 1 across the 5 of their papers we have counts for
8 papers
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu +2
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimiz…
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin +1
The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control. Existing model…
Consensus Complementarity Control for Multi-Contact MPC
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang +1
We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment. Many state-of-the-ar…
Learning Linear Complementarity Systems
Wanxin Jin, Alp Aydinoglu, Mathew Halm +1
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violat…
Real-Time Multi-Contact Model Predictive Control via ADMM
Alp Aydinoglu, Michael Posa
We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment. Many state-of-the-ar…
Stability Analysis of Complementarity Systems with Neural Network Controllers
Alp Aydinoglu, Mahyar Fazlyab, Manfred Morari +1
Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation,…