Adaptive Safety Filter for Refining Manipulator Control in Shared Human-Robot Spaces*

Robust control barrier function-based shared control for cognitive-physical human-robot collaboration

A robust coupled cognitive - physical shared-control framework for human - robot collaboration that guarantees forward invariance of the safe set and bounded closed-loop signals is proposed.

Safe and robust tube-based path-following for robot navigation

In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safety through obstacle avoidance and guaranteed convergence to a target path, while simultaneously mitigating the impact of unknown-but-bounded...

Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments

This work proposes a lightweight and modular framework for proactive collision avoidance, operating directly at the end-effector velocity-command level, and shows that the proposed method achieves a higher end-effector collision avoidance rate than the baseline methods.

Constrained Sampling MPC for Safe Contact-Rich Control: From Exploration to Precision via Hybrid Refinement

Formation-Preserving Control for Multi-Robot Systems: Experimental Validation

Artificial potential fields (APFs) are widely used for collision avoidance in robotic systems due to their simplicity and real-time performance. However, in cooperative environments, robots may undergo unnecessary displacements caused by repulsive forces from neighboring robots, even after reaching their target positio...

Human–Robot Shared Workspace Safety Enhancement Using Predictive Control

The concept of human-robot collaboration (HRC) is becoming a significant part of the contemporary industry as it aims at enhancing productivity, flexibility, and ergonomics. As opposed to conventional industrial robotics, where keeping physical distance between humans and robots guarantees safety, collaborative robots...