186 citations · 218 across the 6 of their papers we have counts for
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cs.RO2022★ 1 cited
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding +1
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-col…
cs.RO2022★ 1 cited
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Yanran Ding, Charles Khazoom, Matthew Chignoli +1
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, th…