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...
| Main Authors: | , |
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| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Online Access: | https://hdl.handle.net/10356/171382 |