Robots are getting better at negotiating rough and unknown environments all the time. This video shows a multi-layered locomotion system for legged robots that allows them to achieve safe foot placement and dynamic stability.
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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
As Robotic Systems Lab explains, their framework
“unifies Control Barrier Functions (CBFs) with Model Predictive Control (MPC) to simultaneously achieve safe foot placement and dynamic stability.”
The above video shows how this works.
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