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cs.RO2023
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…
cs.RO2023
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…