Related papers: Humanoid Self-Collision Avoidance Using Whole-Body…
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis…
Autonomous navigation through unstructured and dynamically-changing environments is a complex task that continues to present many challenges for modern roboticists. In particular, legged robots typically possess manipulable asymmetric…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…
Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical…
Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic…
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…