Contact-Aware Controller Design for Complementarity Systems

• Published in: arXiv.org
• Main Authors: Aydinoglu, Alp, Preciado, Victor M, Posa, Michael
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 24.09.2019
• Subjects: Algorithms; Control systems design; Locomotion; Optimization; Policies; Robotics; Robust control; Tactile sensors (robotics)

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 t...