Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Author:
Affiliation:
1. California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10341341/10341342/10342094.pdf?arnumber=10342094
Reference27 articles.
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4. Toward safety-aware informative motion planning for legged robots;Teng;arXiv preprint,2021
5. Realtime safety control for bipedal robots to avoid multiple obstacles via clf-cbf constraints;Liu;arXiv preprint,2023
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1. Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems;2024 American Control Conference (ACC);2024-07-10
2. A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints;2024 American Control Conference (ACC);2024-07-10
3. Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
4. Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
5. Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
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