Safety-Critical Control for Legged Robots (MPC + CBF)

Ke Wang, Qiayuan Liao, Zhongyu Li, Koushil Sreenath

code

Intro

This project focuses on safety-critical control for quadruped robots navigating in constrained environments. We integrate Control Barrier Functions into a model predictive control framework to enforce collision-avoidance constraints in real time. This framework enables safe traversal of narrow openings that would be challenging for standard MPC methods.

MPC + CBF framework
Figure 1. Overview of the MPC + CBF safety-critical control framework.

Video

MPC + CBF video