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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 …
Alp Aydınoğlu, Adam Wei, Michael Posa
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Stabilization of Complementarity Systems via Contact-Aware Controllers
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. …
Alp Aydınoğlu, Philip Sieg, Victor M. Preciado, Michael Posa
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