相关论文: Encoding Material Safety using Control Barrier Fun…

This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on an exponentially stable velocity controller and a design…

Ensuring safety in real-world robotic systems is often challenging due to unmodeled disturbances and noisy sensor measurements. To account for such stochastic uncertainties, many robotic systems leverage probabilistic state estimators such…

Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous…

This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function…

Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…

Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…

As a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled in software rather than by physical hardware such as safety relays or interlock circuits. This trend…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…

Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…

Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…

Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…

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 of the proposed method lies in its utilization of control…

Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…

Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are…

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires…