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.
Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned con- tact modes or trajectories
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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.