Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC

Ryan M. Bena, Gilbert Bahati, Blake Werner, Ryan K. Cosner, Lizhi Yang, Aaron D. Ames. Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. In 24th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2025, Seoul, Republic of Korea, September 30 - October 2, 2025. pages 1-8, IEEE, 2025. [doi]

Abstract

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