Verifying Safe Transitions between Dynamic Motion Primitives on Legged
Robots

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

18 June 2021

Wyatt Ubellacker

Noel Csomay-Shanklin

Tamás G. Molnár

Papers citing "Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots"

12 / 12 papers shown

Title
Training Directional Locomotion for Quadrupedal Low-Cost Robotic Systems via Deep Reinforcement Learning Peter Böhm Archie C. Chapman Pauline Pounds 47 0 0 14 Mar 2025
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models Max H. Cohen Tamás G. Molnár Aaron D. Ames 58 30 0 14 Mar 2024
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles K. S. Narkhede Mohamad Shafiee Motahar Sushant Veer I. Poulakakis 33 1 0 28 Mar 2023
Safety-Critical Control with Bounded Inputs via Reduced Order Models Tamás G. Molnár Aaron D. Ames 24 15 0 06 Mar 2023
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data Prithvi Akella Skylar X. Wei J. W. Burdick Aaron D. Ames 34 4 0 12 Dec 2022
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows Apurva Badithela Josefine B. Graebener Wyatt Ubellacker Eric V. Mazumdar Aaron D. Ames R. Murray 32 3 0 19 Oct 2022
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs Wyatt Ubellacker Aaron D. Ames 38 15 0 15 Sep 2022
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification Prithvi Akella Wyatt Ubellacker Aaron D. Ames 30 4 0 04 Jan 2022
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions Bibit Bianchini Mathew Halm Nikolai Matni Michael Posa 27 12 0 13 Dec 2021
Validating Robotics Simulators on Real-World Impacts Brian Acosta William Yang Michael Posa 48 31 0 01 Oct 2021
Model-Free Safety-Critical Control for Robotic Systems Tamás G. Molnár Ryan K. Cosner Andrew W. Singletary Wyatt Ubellacker Aaron D. Ames 30 83 0 19 Sep 2021
Interactive multi-modal motion planning with Branch Model Predictive Control Yuxiao Chen Ugo Rosolia Wyatt Ubellacker Noel Csomay-Shanklin Aaron D. Ames 26 62 0 10 Sep 2021