Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang,Alp Aydinoglu,Wanxin Jin,Michael Posa,Wei-Cheng Huang,Alp Aydinoglu,Wanxin Jin,Michael Posa
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-based methods typically rely on either good prior knowledge of the multi-contact model or require significant offline model tuning effort, thus resulting in low adaptability and robustness. In this paper, we propose a r...
