Safe human dual-robot interaction based on control barrier functions and cooperation functions

• المؤلفون الرئيسيون: Shi, Kaige, Chang, Jindong, Feng, Shuo, Fan, Yali, Wei, Zilai, Hu, Guoqiang
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2024
• الموضوعات: Engineering; Control barrier function; Cooperation function
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/181055

Nowadays, humans are allowed to work side-by-side with a robot team, which consists of dual robots in most cases. To ensure human safety, the motion of each robot should be reactive to and compliant with humans via human-in-the-loop control. Furthermore, when the robots conduct a cooperative task, t...