Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles
via CLF-CBF Constraints

Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints

5 January 2023

Jiunn-Kai Huang

Papers citing "Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints"

12 / 12 papers shown

Title
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 255 5 0 28 May 2024
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach Phani Thontepu Bhavya Giri Goswami Manan Tayal Neelaksh Singh I. ShyamsundarP G. ShyamSundarM S. Sundaram Vaibhav Katewa Shishir Kolathaya 80 16 0 23 Sep 2022
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints Grant Gibson Oluwami Dosunmu-Ogunbi Yukai Gong J. Grizzle 55 37 0 30 Sep 2021
Optimal Target Shape for LiDAR Pose Estimation Jiunn-Kai Huang William Clark J. Grizzle 51 6 0 02 Sep 2021
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain Jiunn-Kai Huang J. Grizzle 59 42 0 15 Aug 2021
Comparison between safety methods control barrier function vs. reachability analysis Zhichao Li 47 29 0 24 Jun 2021
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions Gennaro Notomista Matteo Saveriano 45 26 0 11 Jun 2021
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs Jiunn-Kai Huang Chenxi Feng M. Achar M. G. Jadidi J. Grizzle 44 9 0 06 Dec 2020
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance Andrew W. Singletary Karl Klingebiel Joseph R. Bourne Andrew W. Browning P. Tokumaru Aaron D. Ames 163 121 0 19 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
Improvements to Target-Based 3D LiDAR to Camera Calibration Jiunn-Kai Huang J. Grizzle 52 89 0 07 Oct 2019
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation R. Hartley Maani Ghaffari Jadidi Ryan Eustice J. Grizzle 126 259 0 19 Apr 2019