Abstract
The paper explores the feasibility and performance of Discrete-time Control Contraction Metrics (DCCM) on a planar pushing system with smoothed dynamics, to address the challenges of non-smoothness and underactuation of control through contact. While they were unable to achieve many of the theoretical advantages of the control contraction metric framework, they managed to demonstrate the feasibility of synthesizing and running a DCCM controller on a planar pushing system with highly smoothed dynamics. The limitations and gaps in applying their implementation in the real world are also discussed. The paper serves as a good starting point for future work to realize the full potential of DCCMs applied to systems with contact.