使用碰撞锥控制障碍函数（C3BFs）实现安全的腿式运动
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
AI总结：
提出 C3BF-QP 作为参考控制器之上的安全过滤层，利用碰撞锥控制障碍函数保障腿式机器人在含静态与动态障碍物环境中的避碰安全，并通过 PyBullet 仿真验证有效性。
摘要：
腿式机器人在多种应用中展现出巨大潜力，包括但不限于危险环境中的搜索与救援任务，以及对地球上和外太空中未探索区域的探索。然而，这些机器人能否在动态环境中成功导航，在很大程度上取决于高效避碰技术的实施。在本研究论文中，我们采用碰撞锥控制障碍函数（Collision Cone Control Barrier Functions，C3BF）来确保腿式机器人在包含大量静态和动态障碍物的环境中安全移动。我们介绍了 C3BF 的二次规划（Quadratic Program，QP）形式，称为 C3BF-QP；它作为参考控制器之上的保护性过滤层，用于确保机器人在运行过程中的安全。该方法的有效性通过在 PyBullet 上进行的仿真得到了展示。
英文摘要：
Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the successful navigation of these robots in dynamic environments heavily hinges on the implementation of efficient collision avoidance techniques. In this research paper, we employ Collision Cone Control Barrier Functions (C3BF) to ensure the secure movement of legged robots within environments featuring a wide array of static and dynamic obstacles. We introduce the Quadratic Program (QP) formulation of C3BF, referred to as C3BF-QP, which serves as a protective filter layer atop a reference controller to ensure the robots' safety during operation. The effectiveness of this approach is illustrated through simulations conducted on PyBullet.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
