4 papers · 1 filter
Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits
Lei Shi, Haosong Wen, Qichao Liu
Control barrier functions for input-constrained systems place the admissible input set inside the definition of the safe set, yet the resulting barrier is almost always a function…
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
Lei Shi, Xinghua Yu, Cheng Zhou +6
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upp…
Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning
Lei Shi, Qichao Liu, Cheng Zhou +4
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the persp…
A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control
Lei Shi, Qichao Liu, Cheng Zhou +1
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Functio…