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cs.RO2023
Stoch BiRo: Design and Control of a low cost bipedal robot
GVS Mothish, Karthik Rajgopal, Ravi Kola +2
This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The…
cs.RO2023
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal +2
Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experim…