3 accepted papers
A biped robot walking in a crowd must avoid falls and collisions at the same time. The latter is usually addressed through Passive Safety (PS), which guarantees that the robot is at rest when a collision is inevitable. Since PS may limit the robot's mobility, the purpose of this work is to introduce…
We propose a combination of Model Predictive Control and Lexicographic Programming to address complex scenarios with conflicting goals related to various aspects of comfort and safety of passengers in a transit bus, generating different deceleration profiles depending on the speed of the bus and dis…
We control a biped robot moving in a crowd with a Model Predictive Control (MPC) scheme that generates stable walking motions, with automatic footstep placement. Most walking strategies propose to re-plan the walking motion to adapt to changing environments only once at every footstep. This is becau…