With China emerging as the world’s largest market, BYD (Build Your Dreams) has been the top-selling brand for nine years in ...

Abstract: This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision ...

Abstract: In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which ...

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