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Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints.
Jinze Liu
Minzhe Li
Jiunn-Kai Huang
Jessy W. Grizzle
Published in:
CoRR (2023)
Keyphrases
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autonomous robots
robotic systems
real time
physical constraints
control system
motion control
multi robot
robot control
control method
unstructured environments
autonomous systems
constraint satisfaction
cooperative
constrained optimization
humanoid robot
closed loop
vision system
legged robots