Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization-Reference-Cited by-同舟云学术

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Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization

Published:2023-10-01 Issue: Volume: Page:
ISSN:
Container-title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Author:

Liao Qiayuan¹,Li Zhongyu¹,Thirugnanam Akshay¹,Zeng Jun¹,Sreenath Koushil¹

Affiliation:

1. University of California,Berkeley,USA

Funder

NSF

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx7/10341341/10341342/10341896.pdf?arnumber=10341896

Reference38 articles.

1. CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

2. Perceptive whole‐body planning for multilegged robots in confined spaces

3. Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain

4. An Efficient Acyclic Contact Planner for Multiped Robots

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

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

2. Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments;IEEE Robotics and Automation Letters;2024-04

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