Real-Time Multi-Contact Model Predictive Control via ADMM

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, requ...

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Bibliographic Details
Main Authors Aydinoglu, Alp, Posa, Michael
Format Journal Article
LanguageEnglish
Published 15.09.2021
Subjects
Computer Science - Robotics
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Summary: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 rates. We present a method, based on the alternating direction method of multipliers (ADMM), capable of highspeed reasoning over potential contact events. Via a consensus formulation, our approach enables parallelization of the contact scheduling problem. We validate our results on three numerical examples, including two frictional contact problems, and physical experimentation on an underactuated multi-contact system.
DOI:10.48550/arxiv.2109.07076