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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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 8; no. 9; pp. 5902 - 5909
Main Authors:	Shi, Kaige, Hu, Guoqiang
Format:	Journal Article
Language:	English
Published:	Piscataway The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 01.09.2023
Subjects:	Collaboration Control methods Cooperation Multiple robots Quadratic programming Robot control Robots Safety
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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