{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/consensus-complementarity-control-for-multi","title":"Consensus Complementarity Control for Multi-Contact MPC","arxiv_id":"2304.11259","date":"2023-04-21","proceeding":null,"authors":["Alp Aydinoglu","Adam Wei","Wei-Cheng Huang","Michael Posa"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2304.11259v3","url_pdf":"https://arxiv.org/pdf/2304.11259v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"consensus-complementarity-control-for-multi","repo_url":"https://github.com/alpaydinoglu/coptimal","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2304.11259","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}