2 papers
cs.RO2025
STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain
Ziwon Yoon, Lawrence Y. Zhu, Jingxi Lu +2
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal ro…
cs.RO2025
Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility a…