3 citations · 5 across the 20 of their papers we have counts for
6 papers · 1 filter
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward rea…
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including r…
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker +2
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous r…
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker +1
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of t…
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to addr…
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverag…