Robotics: Science and Systems VI

Stochastic Complementarity for Local Control of Discontinuous Dynamics

Y. Tassa and E. Todorov


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.



    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}