Chengyang Peng — accepted AI-conference papers

2025

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions

Chengyang Peng, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid

ICRA 2025

Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and respects the robot's physical limitations and underlying dynam

Cited by 5 Source ↗Scholar ↗

2023

Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression

Chengyang Peng, Octavian Donca, Guillermo Castillo, Ayonga Hereid

ICRA 2023poster

Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free paths toward the target position. However, such approaches may…

Cited by 13 Source ↗Scholar ↗