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

Grandia, Ruben and Taylor, Andrew J. and Ames, Aaron D. and Hutter, Marco (2020) Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. . (Unpublished)

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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 simultaneously achieve safe foot placement and dynamic stability. Our approach incorporates CBF based safety constraints both in a low frequency kino-dynamic MPC formulation and a high frequency inverse dynamics tracking controller. This ensures that safety-critical execution is considered when optimizing locomotion over a longer horizon. We validate the proposed method in a 3D stepping-stone scenario in simulation and experimentally on the ANYmal quadruped platform.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Grandia, Ruben0000-0002-8971-6843
Taylor, Andrew J.0000-0002-5990-590X
Ames, Aaron D.0000-0003-0848-3177
Hutter, Marco0000-0001-9049-534X
Additional Information:R. Grandia and M. Hutter are supported via the European Union’s Horizon 2020 research and innovation programme under grant agreement No 780883 and by the Swiss National Science Foundation (SNSF) as part of project No.188596. A. Taylor, and A. Ames are supported via DARPA award HR00111890035, and NSF awards 1923239 and 1924526.
Funding AgencyGrant Number
European Research Council (ERC)780883
Swiss National Science Foundation (SNSF)188596
Defense Advanced Research Projects Agency (DARPA)HR00111890035
Record Number:CaltechAUTHORS:20201109-140942301
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106554
Deposited By: George Porter
Deposited On:09 Nov 2020 23:31
Last Modified:09 Nov 2020 23:31

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