Dual-mode human-robot collaboration with guaranteed safety using time-varying zeroing control barrier functions and quadratic program

• Main Authors: Shi, Kaige, Hu, Guoqiang
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Control Barrier Function; Human Safety
• Online Access: https://hdl.handle.net/10356/171382
• Institution: Nanyang Technological University

Safety and efficiency are two important aspects of human-robot collaboration (HRC). Most existing control methods for HRC consider either contactless HRC or physical HRC, hindering more efficient HRC. The proposed control framework enables dual-mode HRC, filling the gap between contactless and physi...