Robotics: Science and Systems VI
Stochastic Complementarity for Local Control of Discontinuous Dynamics
Y. Tassa and E. TodorovAbstract:
We present a method for smoothing discontinuous dynamics involving contact and friction, thereby facilitating the use of local optimization techniques for control. The method replaces the standard Linear Complementarity Problem with a Stochastic Linear Complementarity Problem. The resulting dynamics are continuously differentiable, and the resulting controllers are robust to disturbances. We demonstrate our method on a simulated 6-dimensional manipulation task, which involves a finger learning to spin an anchored object by repeated flicking.
Bibtex:
@INPROCEEDINGS{ Tassa-RSS-10, AUTHOR = {Y. Tassa AND E. Todorov}, TITLE = {Stochastic Complementarity for Local Control of Discontinuous Dynamics}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2010}, ADDRESS = {Zaragoza, Spain}, MONTH = {June}, DOI = {10.15607/RSS.2010.VI.022} }