Real-Time Multi-Contact Model Predictive Control via ADMM

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Deep Learningcoptimal
Overview

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

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