Consensus Complementarity Control for Multi-Contact MPC
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2023
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| _version_ | 1866914887479853056 |
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| author | Aydinoglu, Alp Wei, Adam Huang, Wei-Cheng Posa, Michael |
| author_facet | Aydinoglu, Alp Wei, Adam Huang, Wei-Cheng Posa, Michael |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2304_11259 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Consensus Complementarity Control for Multi-Contact MPC Aydinoglu, Alp Wei, Adam Huang, Wei-Cheng Posa, Michael Robotics 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. |
| title | Consensus Complementarity Control for Multi-Contact MPC |
| topic | Robotics |
| url | https://arxiv.org/abs/2304.11259 |