Real-Time Multi-Contact Model Predictive Control via ADMM

15 September 2021

Papers citing "Real-Time Multi-Contact Model Predictive Control via ADMM"

15 / 15 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? Yuki Shirai Tong Zhao H. Suh Huaijiang Zhu Xinpei Ni Jiuguang Wang Max Simchowitz Tao Pang 57 3 0 10 Nov 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation Wen Yang Wanxin Jin 44 3 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 61 6 0 14 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Stefan Sosnowski Jiuguang Wang Sandra Hirche Simon Le Cleac'h 36 2 0 02 Aug 2024
Simultaneous Learning of Contact and Continuous Dynamics Bibit Bianchini Mathew Halm Michael Posa 30 11 0 18 Oct 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 44 15 0 04 Sep 2023
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 21 11 0 19 Dec 2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation Wanxin Jin Michael Posa 35 15 0 30 Nov 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots Yuki Shirai Xuan Lin Alexander Schperberg Yusuke Tanaka Hayato Kato Varit Vichathorn Dennis W. Hong 29 30 0 04 Jul 2022
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR Vince Kurtz Hai Lin 19 15 0 28 Feb 2022
Learning Linear Complementarity Systems Wanxin Jin Alp Aydinoglu Mathew Halm Michael Posa 19 16 0 25 Dec 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 42 47 0 17 Oct 2020
Tactile Dexterity: Manipulation Primitives with Tactile Feedback F. Hogan José Ballester Siyuan Dong Alberto Rodriguez 107 98 0 08 Feb 2020