
The author proposes the Consensus Complementarity Control (C3) algorithm for multi-contact systems, enabling fast reasoning over potential contact events and parallelization of the contact scheduling problem.


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consensus-complementarity-control-for-multi-contact-model-predictive-control


Consensus Complementarity Control for Multi-Contact Model Predictive Control


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提案されたハイブリッドモデル予測制御アルゴリズム「Consensus Complementarity Control (C3)」は、多接触システムにおける高速な意思決定を可能にする。
