Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.
Exponential control barrier functions for enforcing high relative-degree safety-critical constraints,
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Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.