Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization

作者：Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath · 单位：University of California,Berkeley,USA, University of California, Berkeley, USA, University of California, Berkeley · 会议/期刊：arXiv preprint · 方向：2022 · 发布日期：2022