Real-Time Multi-Contact Model Predictive Control via ADMM

Sep 26, 2021 1 min read

Here, you can find the code for the paper ‘Real-Time Multi-Contact Model Predictive Control via ADMM’. Code is currently being cleared up and optimized.

C3: Consensus Complementarity Control

Submitted to ICRA2022

Examples

cartpole: Cartpole with soft walls

finger_gaiting_parallel: Finger gaiting

traj_opt_parallel: Pivoting

GitHub

https://github.com/AlpAydinoglu/coptimal

Real Time Controller

John was the first writer to have joined pythonawesome.com. He has since then inculcated very effective writing and reviewing culture at pythonawesome which rivals have found impossible to imitate.