2 papers
cs.RO2026
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision av…
cs.RO2026
Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments
Kwanwoo Lee, Gyeongjae Park, Myeong-Ju Kim +1
The contact sequence of humanoid walking consists of single and double support phases (SSP and DSP), and their coordination through proper duration and dynamic transition based on…