Contact-Aware Controller Design for Complementarity Systems

24 Sep 2019Alp AydinogluVictor M. PreciadoMichael 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 to deal with the hybrid nature of multi-contact motion. Such controllers often rely heavily upon heuristics or, due to the combinatoric structure in the dynamics, are unsuitable for real-time control... (read more)

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