p-SSA resolves infeasible multi-constraint safe-control QPs by first minimizing constraint violations and then tracking the nominal control, enabling dexterous humanoid collision avoidance in clutter.
Safety index synthesis with state-dependent control space
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Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
p-SSA resolves infeasible multi-constraint safe-control QPs by first minimizing constraint violations and then tracking the nominal control, enabling dexterous humanoid collision avoidance in clutter.