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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

30 October 2020

Marco Hutter

Papers citing "Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control"

37 / 37 papers shown

Title
Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Zachary Olkin Aaron D. Ames 96 0 0 11 Jun 2025
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tianze Wang Christian Hubicki 80 0 0 19 May 2025
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Lizhi Yang Blake Werner Ryan K. Cosner David Fridovich-Keil Preston Culbertson Aaron D. Ames 71 0 0 16 May 2025
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation Satyajeet Das Yifan Xue Haoming Li Nadia Figueroa 122 0 0 04 May 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 107 0 0 08 Mar 2025
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions Minnan Zhou Mustafa Shaikh Vatsalya Chaubey Patrick Haggerty Shumon Koga Dimitra Panagou Nikolay Atanasov 124 1 0 02 Nov 2024
Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR Aaron Young Nevindu Batagoda Harry Zhang Akshat Dave Adithya Pediredla Dan Negrut Ramesh Raskar 82 3 0 04 Oct 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 314 5 0 28 May 2024
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions Shuo Liu Yihui Mao Calin A. Belta 96 8 0 28 Mar 2024
Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation Shaoru Chen Mahyar Fazlyab 89 7 0 11 Jan 2024
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots Ersin Daş J. W. Burdick 142 8 0 03 Jan 2024
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3 Noriaki Takasugi Masaya Kinoshita Yasuhisa Kamikawa Ryoichi Tsuzaki Atsushi Sakamoto Toshimitsu Kai Yasunori Kawanami 59 5 0 18 Oct 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 99 4 0 24 Jul 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots James Zhu J. Joe Payne Aaron M. Johnson 101 5 0 01 Apr 2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions Jeeseop Kim Jaemin Lee Aaron D. Ames 90 13 0 23 Mar 2023
Modular Safety-Critical Control of Legged Robots Berk Tosun Evren Samur 40 0 0 04 Mar 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 109 19 0 29 Dec 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions Cameron J. Lerch Ethan Dong Ian Abraham 85 14 0 08 Nov 2022
Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces Xinghao Zhu Wenzhao Lian Bodi Yuan C. Freeman Masayoshi Tomizuka 55 5 0 31 Oct 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions Shuo Liu Jun Zeng Koushil Sreenath C. Belta 156 21 0 09 Oct 2022
Inverse-Dynamics MPC via Nullspace Resolution Carlos Mastalli S. Chhatoi Thomas Corbéres Steve Tonneau S. Vijayakumar 64 36 0 12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 97 150 0 17 Aug 2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations Kuang-Huei Lee Ofir Nachum Tingnan Zhang S. Guadarrama Jie Tan Wenhao Yu 80 16 0 27 Jul 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 109 31 0 01 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 105 64 0 28 Jun 2022
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles Anil Alan Andrew J. Taylor C. He Aaron D. Ames G. Orosz 67 69 0 07 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam Koushil Sreenath 62 16 0 11 May 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 76 3 0 02 May 2022
A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control Qingfeng Yao Jilong Wang Shuyu Yang Cong Wang Linghan Meng Qifeng Zhang Donglin Wang 89 6 0 02 Mar 2022
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems S. Katayama T. Ohtsuka 46 2 0 14 Dec 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 111 84 0 28 Oct 2021
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 108 35 0 23 Oct 2021
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries Ayush Agrawal Shuxiao Chen Akshara Rai Koushil Sreenath 135 31 0 02 Oct 2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions Jun Zeng Zhongyu Li Koushil Sreenath 67 82 0 21 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Noel Csomay-Shanklin Ryan K. Cosner Min Dai Andrew J. Taylor Aaron D. Ames 74 24 0 04 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 89 67 0 20 Apr 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots Sangli Teng Yukai Gong J. Grizzle Maani Ghaffari 80 37 0 26 Mar 2021