Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
Ruben Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter Ruben Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic stability considerations, or relegate the coordination of foot placement and dynamic stability to heuristic methods. We propose a multi-layered locomotion fram...