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cs.RO2026
Tackling Sim-to-Real Mismatch Through Sampling-Based Disturbance Observers: From Analytical Models to Learned World Models
Tianqi Zhu, Jun Yang, Jianliang Mao +2
Robotic controllers increasingly rely on analytical models, simulators, cost-query interfaces, and learned world models. However, physical deployment can deviate from nominal assum…
cs.RO2024
Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
Jinhao Liu, Jun Yang, Jianliang Mao +5
A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature…
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…