# Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4389667374](https://www.wikidata.org/wiki/openalex:W4389667374)  
**Source**: https://4ort.xyz/entity/hierarchical-relaxation-of-safety-critical-controllers-mitigating-contradictory-safety-conditions-with-application-to-qu