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Multi-Layered Safety for Legged Robots via Control Barrier Functions and
  Model Predictive Control
v1v2 (latest)

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

30 October 2020
R. Grandia
Andrew J. Taylor
Aaron D. Ames
Marco Hutter
ArXiv (abs)PDFHTML

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
93
0
0
11 Jun 2025
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
106
19
0
29 Dec 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via
  Control Barrier Functions
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
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
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
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
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
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
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
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
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
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
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
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
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
S. Katayama
T. Ohtsuka
44
2
0
14 Dec 2021
Learning to Jump from Pixels
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
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
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
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng
Zhongyu Li
Koushil Sreenath
59
82
0
21 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier
  Functions and Projection-to-State Safety
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
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
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng
Yukai Gong
J. Grizzle
Maani Ghaffari
80
37
0
26 Mar 2021
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