94 citations · 110 across the 10 of their papers we have counts for
5 papers · 1 filter
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia +4
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and uns…
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai +2
This paper combines episodic learning and control barrier functions in the setting of bipedal locomotion. The safety guarantees that control barrier functions provide are only vali…
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames +1
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prior…
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Andrew J. Taylor, Victor D. Dorobantu, Hoang M. Le +2
Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. Ho…