Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis

Description

We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty. Specifically, we propose a high-level Model Predictive Control (MPC) navigation framework for a bipedal robot with a specified confidence level of safety that (i) enables safe traversal toward a desired goal location across a terrain map with uncertain elevations, and

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