1 citations · 1 across the 5 of their papers we have counts for
6 papers · 1 filter
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…
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…
Stabilization of Complementarity Systems via Contact-Aware Controllers
Alp Aydinoglu, Philip Sieg, Victor M. Preciado +1
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation an…
Contact-Aware Controller Design for Complementarity Systems
Alp Aydinoglu, Victor M. Preciado, Michael Posa
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle…