Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Author:
Affiliation:
1. Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9999736/9999739/10000235.pdf?arnumber=10000235
Reference28 articles.
1. Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control
2. Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots
3. Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
4. Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery
5. A unified framework for coordinated multi-arm motion planning
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1. Safe Whole-Body Task Space Control for Humanoid Robots;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. Second-Order Convergent Collision-Constrained Optimization-Based Planner;IEEE Robotics and Automation Letters;2024-06
4. Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
5. Reinforcement Learning for Reduced-order Models of Legged Robots;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
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