Cover Image

Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Lee, Jaemin, Dai, Min, Kim, Jeeseop, Ames, Aaron D.
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
by: Lee, Jaemin, et al.
Published: (2024)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
by: Dai, Min, et al.
Published: (2025)

Data-Driven Predictive Control for Robust Exoskeleton Locomotion
by: Li, Kejun, et al.
Published: (2024)

Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
by: Li, Kejun, et al.
Published: (2025)

Robust Adaptive Safe Robotic Grasping with Tactile Sensing
by: Kim, Yitaek, et al.
Published: (2024)

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
by: Ghansah, Adrian B., et al.
Published: (2024)

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
by: Dai, Min, et al.
Published: (2025)

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
by: Dai, Min, et al.
Published: (2026)

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
by: Ghansah, Adrian B., et al.
Published: (2025)

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control
by: Olkin, Zachary, et al.
Published: (2025)

Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
by: Olkin, Zachary, et al.
Published: (2024)

From Obstacles to Etiquette: Robot Social Navigation with VLM-Informed Path Selection
by: Fang, Zilin, et al.
Published: (2026)

ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
by: Zeng, Yicheng, et al.
Published: (2026)

Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
by: Kamimura, Tomoya, et al.
Published: (2026)

Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
by: Tucker, Maegan, et al.
Published: (2023)

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
by: Imran, Basit Muhammad, et al.
Published: (2025)

Locomotion and Obstacle Avoidance of a Worm-like Soft Robot
by: Even, Sean, et al.
Published: (2023)

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
by: Sambhus, Ruturaj S., et al.
Published: (2026)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
by: Yang, Lizhi, et al.
Published: (2025)

Concurrent-Allocation Task Execution for Multi-Robot Path-Crossing-Minimal Navigation in Obstacle Environments
by: Hu, Bin-Bin, et al.
Published: (2025)

Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
by: Das, Ersin, et al.
Published: (2024)

EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
by: Zhu, Wei, et al.
Published: (2025)

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion
by: Esteban, Sergio A., et al.
Published: (2025)

Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
by: Wilkinson, Meg, et al.
Published: (2026)

Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion
by: Werner, Blake, et al.
Published: (2025)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
by: Bahati, Gilbert, et al.
Published: (2025)

OSCAR: Obstacle Survival Curves for Adaptive Robot Navigation
by: Sahak, Hshmat, et al.
Published: (2026)

Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
by: Compton, William D., et al.
Published: (2026)

Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
by: Yamaguchi, Erina, et al.
Published: (2026)

Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots
by: Bartlett, Tara, et al.
Published: (2024)

Robot Navigation in Dynamic Environments using Acceleration Obstacles
by: Stern, Asher, et al.
Published: (2025)

Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
by: Csomay-Shanklin, Noel, et al.
Published: (2024)

Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
by: Lee, Joonho, et al.
Published: (2024)

A Data-driven Contact Estimation Method for Wheeled-Biped Robots
by: Gökbakan, Ü. Bora, et al.
Published: (2024)

An Open-Source, Reproducible Tensegrity Robot that can Navigate Among Obstacles
by: Johnson III, William R., et al.
Published: (2025)

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
by: Esteban, Sergio A., et al.
Published: (2025)

Obstacle-Aware Navigation of Soft Growing Robots via Deep Reinforcement Learning
by: El-Hussieny, Haitham, et al.
Published: (2024)

Robot Swarm Control Based on Smoothed Particle Hydrodynamics for Obstacle-Unaware Navigation
by: Eguchi, Michikuni, et al.
Published: (2024)

From NLVO to NAO: Reactive Robot Navigation using Velocity and Acceleration Obstacles
by: Stern, Asher, et al.
Published: (2025)

HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincaré Maps, and Regions of Attraction
by: Werner, Blake, et al.
Published: (2026)