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Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization.
Qiayuan Liao
Zhongyu Li
Akshay Thirugnanam
Jun Zeng
Koushil Sreenath
Published in:
IROS (2023)
Keyphrases
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legged robots
safety critical
quadruped robot
inverted pendulum
mobile robot
legged locomotion
robotic systems
formal methods
nuclear power plant
embedded systems
intelligent control
safety analysis
real time
robot control
real robot
fault tolerant
low cost
agent architecture
ambient intelligence
machine learning