A fault-tolerant control method for 2D isoperimetric truss robots that preserves rigidity and over 69% workspace under single-motor failures via extended kinematic optimization and discrete-time control barrier functions, validated in simulation and hardware.
Discrete- time control barrier functions for safety-critical control,
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Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
A fault-tolerant control method for 2D isoperimetric truss robots that preserves rigidity and over 69% workspace under single-motor failures via extended kinematic optimization and discrete-time control barrier functions, validated in simulation and hardware.