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Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
arXiv:2605.28367v3 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
arXiv:2605.28367v5 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...
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arXiv:2605.28367v4 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...