Toward Safety-Aware Informative Motion Planning for Legged Robots

Toward Safety-Aware Informative Motion Planning for Legged Robots

26 March 2021

Yukai Gong

Papers citing "Toward Safety-Aware Informative Motion Planning for Legged Robots"

18 / 18 papers shown

Title
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 88 4 0 03 Mar 2025
Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions A. Manjunath Quan Nguyen 38 40 0 13 Nov 2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control R. Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter 45 123 0 30 Oct 2020
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller Yukai Gong J. Grizzle 39 40 0 25 Aug 2020
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping Xiaobin Xiong Aaron D. Ames 46 31 0 06 Aug 2020
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function Jun Zeng Bike Zhang Koushil Sreenath 45 276 0 22 Jul 2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions R. Grandia Andrew J. Taylor Andrew W. Singletary Marco Hutter Aaron D. Ames 30 39 0 01 Jun 2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions Jason J. Choi F. Castañeda Claire Tomlin Koushil Sreenath 41 185 0 16 Apr 2020
Sampling-based Motion Planning via Control Barrier Functions Guang Yang Bee Vang Zachary Serlin C. Belta Roberto Tron 39 38 0 15 Jul 2019
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation R. Hartley Maani Ghaffari Jadidi Ryan Eustice J. Grizzle 123 259 0 19 Apr 2019
Kriging-Based Robotic Exploration for Soil Moisture Mapping Using a Cosmic-Ray Sensor Jaime Pulido Fentanes A. Badiee T. Duckett Jonathan G. Evans Simon Pearson Grzegorz Cielniak 83 25 0 13 Nov 2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway Yukai Gong R. Hartley Xingye Da Ayonga Hereid Omar Harib Jiunn-Kai Huang J. Grizzle 52 190 0 19 Sep 2018
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped Ayonga Hereid Omar Harib R. Hartley Yukai Gong J. Grizzle 52 43 0 17 Jul 2018
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs R. Hartley M. G. Jadidi Lu Gan Jiunn-Kai Huang J. Grizzle Ryan Eustice 67 55 0 20 Mar 2018
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model Ye Zhao B. Fernández Luis Sentis 38 38 0 19 Aug 2017
Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring Maani Ghaffari Jadidi Jaime Valls Miro G. Dissanayake 110 64 0 07 Jul 2016
Online Informative Path Planning for Active Classification on UAVs Marija Popović Gregory Hitz Juan I. Nieto Roland Siegwart Enric Galceran 33 32 0 27 Jun 2016
Sampling-based Algorithms for Optimal Motion Planning S. Karaman Emilio Frazzoli 97 4,689 0 05 May 2011