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2011.00032
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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
IEEE International Conference on Robotics and Automation (ICRA), 2020
30 October 2020
R. Grandia
Andrew J. Taylor
Aaron D. Ames
Marco Hutter
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Papers citing
"Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control"
50 / 52 papers shown
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Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation
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Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
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Masaya Kinoshita
Yasuhisa Kamikawa
Ryoichi Tsuzaki
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Yasunori Kawanami
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Lorenzo Amatucci
Victor Barasuol
Giulio Turrisi
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Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
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Aaron D. Ames
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Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems
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246
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Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
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James Zhu
J. Joe Payne
Aaron M. Johnson
577
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Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
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Carlos Mastalli
Thomas Corbéres
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Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
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Jaemin Lee
Aaron D. Ames
276
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Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
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Patrick M. Wensing
348
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Inverse-Dynamics MPC via Nullspace Resolution
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S. Chhatoi
Thomas Corbéres
Steve Tonneau
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301
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Perceptive Locomotion through Nonlinear Model Predictive Control
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