We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function is added to the optimization's cost function, leading to collision avoidance behavior without increasing the problem's computational complexity. Our holistic approach does not require any heuristics and enables legged robots to find whole-body motions in the presence of static and dynamic obstacles. We use a dynamically generated euclidean signed distance field for static collision checking. Collision checking for dynamic obstacles is modeled with moving cylinders, increasing the responsiveness to fast-mo...
For safe human-robot interaction and co-existence, collision avoidance is a fundamental prerequisite...
This paper presents an approach to collision-free, long-range trajectory generation for a mobile rob...
Walking gaits generated using Model Predictive Control (MPC) is widely used due to its capability to...
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulati...
In this paper we present a novel strategy for reactive collision-free feasible motion planning for r...
To explore safe interactions between a mobile robot and dynamic obstacles, this paper presents a com...
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together ...
Navigating a robot in a dynamic environment is a challenging task. Most modern applications require ...
This letter presents a method for local motion planning in unstructured environments with static and...
When humans and robots operate in and occupy the same local space, proximity detection and proactive...
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the...
Abstract — We propose a fast approach for detecting collision-free swing-foot trajectories for legge...
In the study of collision-free navigation methods of multirobots, much attention has been paid to th...
We describe an optimization-based framework to perform complex locomotion skills for robots with leg...
International audienceWalking gaits generated using Model Predictive Control (MPC) is widely used du...
For safe human-robot interaction and co-existence, collision avoidance is a fundamental prerequisite...
This paper presents an approach to collision-free, long-range trajectory generation for a mobile rob...
Walking gaits generated using Model Predictive Control (MPC) is widely used due to its capability to...
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulati...
In this paper we present a novel strategy for reactive collision-free feasible motion planning for r...
To explore safe interactions between a mobile robot and dynamic obstacles, this paper presents a com...
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together ...
Navigating a robot in a dynamic environment is a challenging task. Most modern applications require ...
This letter presents a method for local motion planning in unstructured environments with static and...
When humans and robots operate in and occupy the same local space, proximity detection and proactive...
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the...
Abstract — We propose a fast approach for detecting collision-free swing-foot trajectories for legge...
In the study of collision-free navigation methods of multirobots, much attention has been paid to th...
We describe an optimization-based framework to perform complex locomotion skills for robots with leg...
International audienceWalking gaits generated using Model Predictive Control (MPC) is widely used du...
For safe human-robot interaction and co-existence, collision avoidance is a fundamental prerequisite...
This paper presents an approach to collision-free, long-range trajectory generation for a mobile rob...
Walking gaits generated using Model Predictive Control (MPC) is widely used due to its capability to...