22 citations · 58 across the 19 of their papers we have counts for
8 papers · 1 filter
Physical Human-Robot Interaction: A Critical Review of Safety Constraints
Riccardo Zanella, Federico Califano, Stefano Stramigioli
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We…
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli +1
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and th…
A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
Federico Califano, Camilla Rota, Riccardo Zanella +1
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task , where is a point on the configurat…
Lossless optimal transient control for rigid bodies in 3D space
Riccardo Zanella, Federico Califano, Antonio Franchi +1
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a pa…
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…
Passivity-Preserving Safety-Critical Control using Control Barrier Functions
Federico Califano
In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under w…