Mohitvishnu S. Gadde

Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets

Humanoid robots often execute motion commands through whole-body controllers (WBCs) that track targets while maintaining balance and stability. However, most WBCs are blind to scene geometry, which can lead to collisions from imperfect target motions that are geometrically unsafe due to perception, planning, or teleope...