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Legged robots exhibit significant potential across diverse applications,including but not limited to hazardous environment search and rescue missionsand the exploration of unexplored regions both on Earth and in outer space.However, the successful navigation of these robots in dynamic environmentsheavily hinges on the implementation of efficient collision avoidancetechniques. In this research paper, we employ Collision Cone Control BarrierFunctions (C3BF) to ensure the secure movement of legged robots withinenvironments featuring a wide array of static and dynamic obstacles. Weintroduce the Quadratic Program (QP) formulation of C3BF, referred to asC3BF-QP, which serves as a protective filter layer atop a reference controllerto ensure the robots' safety during operation. The effectiveness of thisapproach is illustrated through simulations conducted on PyBullet.

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)