2 papers
eess.SY2025
Enhancing Robustness of Control Barrier Function: A Reciprocal Resistance-based Approach
Xinming Wang, Zongyi Guo, Jianguo Guo +2
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear…
cs.RO2024
Guarding Force: Safety-Critical Compliant Control for Robot-Environment Interaction
Xinming Wang, Jun Yang, Jianliang Mao +3
In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unk…