Research paper
Bipedal CBF control · Combining joint limits and walking objectives
A backstepping-inspired construction builds barrier functions for higher-relative-degree constraints. A QP combines joint limits with CLF walking objectives for an AMBER2 biped model.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Control barrier function based quadratic programs with application to bipedal robotic walking
- Publisher
- IEEE
- Authors
- Shao-Chen Hsu, Xiangru Xu, Aaron D. Ames
- DOI
- 10.1109/acc.2015.7172044
- Publication date
- 2015-07
- Source language
- en
- Edition
- 2015 American Control Conference (ACC); 2015-07; DOI 10.1109/acc.2015.7172044
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
A backstepping-inspired construction builds barrier functions for higher-relative-degree constraints. A QP combines joint limits with CLF walking objectives for an AMBER2 biped model.
Use and review
Conference abstract and bibliography checked. Model constraint satisfaction does not establish physical-robot fall prevention or hardware safety.
Sources & editions
Control barrier function based quadratic programs with application to bipedal robotic walking ↗
IEEE · 2015 American Control Conference (ACC); 2015-07; DOI 10.1109/acc.2015.7172044
ACC2015 original abstract https://authors.library.caltech.edu/records/36wfk-mhe75; DOI10.1109/ACC.2015.7172044.