Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

@article{Grandia2020MultiLayeredSF,
  title={Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control},
  author={Ruben Grandia and Andrew J. Taylor and A. Ames and Marco Hutter},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020},
  pages={8352-8358}
}
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 framework that unifies Control Barrier Functions (CBFs) with Model Predictive Control (MPC) to… 
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