A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.
Adaptive safety with control barrier functions,
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An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.
citing papers explorer
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Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.
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Online Learning-Enhanced High Order Adaptive Safety Control
An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.