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Safety-critical motion optimization for quadruped robots on offshore platforms: A hierarchical nonlinear model predictive control framework based on foothold optimization and control barrier function

K.F. Liu, Jijun Gu, Xiaoyong He, Jichuan Jia

Year: 2025
Citations: 1

Keywords

Model predictive controlObstacle avoidanceControl theory (sociology)RobotTrajectorySensitivity (control systems)Motion planningObstacleTrajectory optimization

Safety-critical motion optimization for quadruped robots on offshore platforms: A hierarchical nonlinear model predictive control framework based on foothold optimization and control barrier function

Keywords

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