Agile But Safe : Learning Collision-Free High-Speed Legged Locomotion @cmurobotics

Uploaded June 2024 | Updated September 2026, 2 weeks ago

Work from Tairan He and Chong Zhang in conjunction with Wenli Xiao and Guanqi He from ETH Zurich.

Read the full article on the Robotics Institute website:
https://www.ri.cmu.edu/collision-free-high-speed-robots/

To learn more about the ABS framework, read the paper here:

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Tairan He*, Chong Zhang*, Wenli Xiao, Guanqi He, Changliu Liu, Guanya Shi
Robotics: Science and Systems (RSS), 2024
agile-but-safe.github.io

Robotics Institute faculty involved in this project:
Guanya Shi
https://www.ri.cmu.edu/ri-faculty/guanya-shi/

Changliu Liu
https://www.ri.cmu.edu/ri-faculty/changliu-liu/

Agile But Safe : Learning Collision-Free High-Speed Legged Locomotion

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