相关论文: Multi-Layered Safety for Legged Robots via Control…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…

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…

Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…

We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…

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…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

Adaptive control has focused on online control of dynamic systems in the presence of parametric uncertainties, with solutions guaranteeing stability and control performance. Safety, a related property to stability, is becoming increasingly…

Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…

Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…

Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics…

Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…

Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs),…

The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…

This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…

We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…

Control barrier functions (CBFs) have recently been introduced as a systematic tool to ensure safety by establishing set invariance. When combined with a control Lyapunov function (CLF), they form a safety-critical control mechanism.…

In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…

We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…