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cs.RO2023
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration
Dianhao Zhang, Mien Van, Pantelis Sopasakis +1
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critica…
cs.RO2023
Adaptive Safety-critical Control with Uncertainty Estimation for Human-robot Collaboration
Dianhao Zhang, Mien Van, Stephen Mcllvanna +2
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field…