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Title:

Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions

Document type:
Konferenzbeitrag
Author(s):
A. Lederer; A. Begzadi; N. Das; S. Hirche
Abstract:
Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both adherence to safety constraints defined on the system state, as well as guaranteeing compliant behavior of the robot. If the underlying dynamical system is known exactly, the former can be addressed with the help of control barrier functions. The incorporation of elastic actuators in the robot's mechanical design can address the latter requirement. However, this elasticity can increase...     »
Keywords:
coman; rehyb; tumagenda2030; relAI
Book / Congress title:
2023, The 22nd World Congress of the International Federation of Automatic Control
Year:
2023
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