.png){kind=icon}
Return
Consensus Complementarity Control for Multicontact MPC
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2024.3435423.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
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 a priori mode schedules or are too computationally complex to run at real-time rates. We present a method based on the alternating direction method of multipliers that is capable of high-speed reasoning over potential contact events. Via a consensus formulation, our approach enables parallelization of the contact scheduling problem. We validate our results on five numerical examples, including four high-dimensional frictional contact problems, and a physical experimentation on an underactuated multicontact system. We further demonstrate the effectiveness of our method on a physical experiment accomplishing a high-dimensional, multicontact manipulation task with a robot arm.
Keywords:
Contact modeling
dexterous manipulation
multicontact control
optimization and optimal control
Contact modeling
dexterous manipulation
multicontact control
optimization and optimal control
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W
Organization
Cited Papers
.png){kind=icon}
ShareSaveShareSaveShareSaveUtilities of the Post-anesthesia State derived by the Standard Gamble method in surgical patients
OAAI
OAAIShareSaveShareSave
View more