Safe Control for Soft-Rigid Robots with Self-Contact using Control
Barrier Functions

Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions

6 November 2023

Zachary Patterson

Wei Xiao

Emily R. Sologuren

Daniela Rus

Papers citing "Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions"

6 / 6 papers shown

Title
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions Kiwan Wong Maximilian Stolzle Wei Xiao Cosimo Della Santina Daniela Rus Gioele Zardini 27 0 0 05 May 2025
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions Akua Dickson Juan C. Pacheco Garcia Meredith L. Anderson Ran Jing Sarah Alizadeh-Shabdiz Audrey X. Wang Charles DeLorey Zach J. Patterson Andrew P. Sabelhaus 48 1 0 20 Apr 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 64 0 0 08 Mar 2025
Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact Zach J. Patterson Emily R. Sologuren Cosimo Della Santina Daniela Rus 20 0 0 17 Aug 2024
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 53 31 0 01 Jul 2022
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control Vince Kurtz Patrick M. Wensing Hai Lin 24 10 0 27 Sep 2021