Dual-Mode Human-Robot Collaboration With Guaranteed Safety Using Time-Varying Zeroing Control Barrier Functions and Quadratic Program

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...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 8; H. 9; S. 5902 - 5909
Hauptverfasser:	Shi, Kaige, Hu, Guoqiang
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 01.09.2023
Schlagworte:	Collaboration Control methods Cooperation Multiple robots Quadratic programming Robot control Robots Safety
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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