activity
20192025
most citedApproximating Global Contact-Implicit MPC via Sampling and Local Complementarity

1 citations · 1 across the 5 of their papers we have counts for

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Showing 2020Show all

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eess.SY2020

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,…

cs.RO2020

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…