Contact-Aware Controller Design for Complementarity Systems
Alp Aydinoglu,Victor M. Preciado,Michael Posa,Alp Aydinoglu,Victor M. Preciado,Michael 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. Principled deployme...
