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Reactive motion planning with probabilisticsafety guarantees.

, , , , and . CoRL, volume 155 of Proceedings of Machine Learning Research, page 1958-1970. PMLR, (2020)

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Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs, , , and . CoRR, (2013)Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics., , and . ICRA, page 4803-4810. IEEE, (2013)Quadratic programming and impedance control for transfemoral prosthesis., , and . ICRA, page 1341-1347. IEEE, (2014)Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons., , , , , , , , and . ICRA, page 2804-2811. IEEE, (2018)Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots., , and . ICRA, page 7073-7078. IEEE, (2021)Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control., , , and . ICRA, page 8352-8358. IEEE, (2021)Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors., , and . ICRA, page 12106-12112. IEEE, (2023)Safety-Critical Controller Verification via Sim2Real Gap Quantification., , and . ICRA, page 10539-10545. IEEE, (2023)Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs., and . ICRA, page 12142-12148. IEEE, (2023)Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots., , and . IROS, page 2384-2391. (2023)