Safety-guaranteed and task-consistent human-robot interaction using high-order time-varying control barrier functions and quadratic programs

• Main Authors: Shi, Kaige, Hu, Guoqiang
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering::Electrical and electronic engineering; Control Barrier Function; Quadratic Program
• Online Access: https://hdl.handle.net/10356/173303
• Institution: Nanyang Technological University

Close human-robot interaction enables the combination of complementary abilities of humans and robots, thereby promoting efficient manufacturing. Human safety is an important aspect of human-robot interaction. To this end, the robot executes an evasive motion for collision avoidance when the human a...