Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization

29 December 2022

Papers citing "Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization"

8 / 8 papers shown

Title
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao K. Sreenath Negar Mehr 83 2 0 20 Feb 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 30 1 0 11 Nov 2024
Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments Yuling Li Xindong Tang Kai Chen Chunxin Zheng Haichao Liu Jun Ma 16 7 0 09 Oct 2023
Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study X. Chu Shengzhi Wang Minjian Feng Jiaxi Zheng Yuxuan Zhao Jing Huang K. W. S. Au 11 2 0 21 Aug 2023
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 45 5 0 06 Sep 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter K. Alexis 29 34 0 11 Jul 2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots Chenyu Yang Guo Ning Sue Zhongyu Li Lizhi Yang Haotian Shen Yufeng Chi Akshara Rai Jun Zeng K. Sreenath 43 29 0 29 Jun 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng K. Sreenath 60 43 0 25 Sep 2021