We’re excited that the paper “Stabilization of Complementarity Systems via Contact-Aware Controllers,” led by Alp Aydinoglu, has been accepted for publication in IEEE Transactions on Robotics (TRO). In it, we solve bilinear matrix inequalities to synthesize control policies that explicitly use measured state and force for feedback. Check out the video where the controller stabilizies a cart-pole that slams into nearby walls!
https://arxiv.org/abs/2008.02104