A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.
Proactive hierarchical control barrier function-based constraint prioritization to enhance safety in human-robot interaction
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Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.