Related papers: Control Barrier Functions for Singularity Avoidanc…
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conservative behavior, and tuning these controllers to find the…
The restriction of feasible motions of a manipulator link constrained to move through an entry port is a common problem in minimum invasive surgery procedures. Additional spatial restrictions are required to ensure the safety of sensitive…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
In the recent years, passivity theory has gained renewed attention because of its advantages and practicality in modeling of multi-domain systems and constructive control techniques. Unlike Lyapunov theory, passivity theory takes a…