4 citations · 9 across the 5 of their papers we have counts for
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cs.RO2026
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…
cs.RO2022★ 4 cited
Safe Control Under Input Limits with Neural Control Barrier Functions
Simin Liu, Changliu Liu, John Dolan
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method…
cs.RO2022★ 2 cited
Safety Index Synthesis via Sum-of-Squares Programming
Weiye Zhao, Tairan He, Tianhao Wei +2
Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control…