4 citations · 16 across the 10 of their papers we have counts for
3 papers · 2 filters
Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators
Stephen McIlvanna, Nhat Nguyen Minh, Yuzhu Sun +2
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulato…
Fixed-time Integral Sliding Mode Control for Admittance Control of a Robot Manipulator
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benef…
Adaptive Admittance Control for Safety-Critical Physical Human Robot Collaboration
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle sa…