A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
Global planning for contact-rich manipulation via local smoothing of quasi-dynamic contact models,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.