control barrier function

Real-time safe bipedal robot navigation using linear discrete control barrier functions
Digit simulation study of obstacle avoidance with linear discrete control barrier functions.
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Real-time safe bipedal robot navigation using linear discrete control barrier functions
Safe whole-body task space control for humanoid robots
Complex robotic systems require whole-body controllers to handle contact interactions, handle closed kinematic chains, and track …
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Safe whole-body task space control for humanoid robots
Unified path and gait planning for safe bipedal robot navigation
Unified path and gait planning evaluated in Digit simulation with randomly generated obstacles.
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Unified path and gait planning for safe bipedal robot navigation
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as …
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Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Enhancing the performance of a safe controller via supervised learning for truck lateral control
Correct-by-construction techniques, such as control barrier functions (CBFs), can be used to guarantee closed-loop safety by acting as …
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Enhancing the performance of a safe controller via supervised learning for truck lateral control
3d dynamic walking on stepping stones with control barrier functions
3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with discrete footholds. We …
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3d dynamic walking on stepping stones with control barrier functions