• Corpus ID: 237513597

Real-Time Multi-Contact Model Predictive Control via ADMM

@article{Aydinoglu2021RealTimeMM,
  title={Real-Time Multi-Contact Model Predictive Control via ADMM},
  author={Alp Aydinoglu and Michael Posa},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.07076}
}
We propose a general hybrid model predictive control algorithm, consensus complementarity control (C3), 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 so computationally complex that they cannot run at realtime rates. We present a method, based on the alternating direction method of multipliers (ADMM… 

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