Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee,Jeeseop Kim,Wyatt Ubellacker,Tamas G. Molnar,Aaron D. Ames,Jaemin Lee,Jeeseop Kim,Wyatt Ubellacker,Tamas G. Molnar,Aaron D. Ames
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study, we consider the problem of operating a quadrupedal robot in distillation columns, locomoting on column trays and transitioning between these trays w...
