Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function

arXiv:2609.25994 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Control Barrier Function — 7× in this paper
• Admittance Control — 5× in this paper · explained in 1 episode
• Model Predictive Control — 4× in this paper
• Center of Mass — 2× in this paper
• Control Barrier Function (CBF) — 2× in this paper · explained in 5 episodes
• Energy Efficiency — 2× in this paper · explained in 3 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Frustration — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Preference-Based Optimization — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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