Real-Time Multi-Contact Model Predictive Control via ADMM
Alp Aydinoglu,Michael Posa,Alp Aydinoglu,Michael Posa
We propose a 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 real-time rate...
