Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization
Qiayuan Liao,Zhongyu Li,Akshay Thirugnanam,Jun Zeng,Koushil Sreenath,Qiayuan Liao,Zhongyu Li,Akshay Thirugnanam,Jun Zeng,Koushil Sreenath
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control Barrier Functions (exponential DCBFs) with duality-based obstacle avoidance constraints into a Non-linear Model Predictive Control (NMPC) with Whole-Body Control (W...
