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Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Providing safe and effective mobility assistance plays a crucial role in restoring independence and enhancing the quality of life for individuals with motor impairments. In this context, robotic walking assistive devices have recently emerged as promising solutions to provide physically compliant interaction while ensuring user safety and support. This paper presents a novel control framework for an omnidirectional Walking Assistive Robot (I-WANDER) that integrates a Control Barrier Function (CBF) formulation into a Model Predictive Control (MPC) scheme to explicitly enforce collision-avoidanc

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