Consensus Complementarity Control for Multi-Contact MPC

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
Published inarXiv.org
Main Authors Aydinoglu, Alp, Wei, Adam, Wei-Cheng, Huang, Posa, Michael
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 26.07.2024
Subjects
Algorithms
Contact potentials
Control theory
Locomotion
Predictive control
Robot arms
Scheduling
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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 too computationally complex to run at real-time rates. We present a method based on the alternating direction method of multipliers (ADMM) that is capable of high-speed reasoning over potential contact events. Via a consensus formulation, our approach enables parallelization of the contact scheduling problem. We validate our results on five numerical examples, including four high-dimensional frictional contact problems, and a physical experimentation on an underactuated multi-contact system. We further demonstrate the effectiveness of our method on a physical experiment accomplishing a high-dimensional, multi-contact manipulation task with a robot arm.
ISSN:2331-8422