Safety-critical motion optimization for quadruped robots on offshore platforms: A hierarchical nonlinear model predictive control framework based on foothold optimization and control barrier function

K.F. Liu

doi:10.1016/j.conengprac.2025.106559

Safety-critical motion optimization for quadruped robots on offshore platforms: A hierarchical nonlinear model predictive control framework based on foothold optimization and control barrier function

2025-09-09

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AI

K

K.F. Liu

顾

顾继俊 (Jijun Gu) *

X

Xiaoyong He

J

Jichuan Jia

DOI：10.1016/j.conengprac.2025.106559

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Abstract

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• Address major challenges of quadruped robots inspecting offshore platforms. • Hierarchical NMPC using 2nd-order sensitivity and enhanced Gauss–Newton. • Adaptive foothold optimization via mixed-integer programming enhances gait stability. • Dynamic obstacle avoidance using control barrier functions for polyhedral models. • Validated experimentally on the Unitree Aliengo robot.

Safety-critical motion optimization for quadruped robots on offshore platforms: A hierarchical nonlinear model predictive control framework based on foothold optimization and control barrier function

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