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cs.RO2026
Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
Rui Luo, Jonas Mariager Jakobsen, Wesley Roozing +2
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative…
cs.RO2024
Limiting Kinetic Energy through Control Barrier Functions: Analysis and Experimental Validation
Federico Califano, Daniel Logmans, Wesley Roozing
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed…