The safety of robotic systems is paramount to their continued emergence into our lives. From
collaborative industrial manipulators to drone deliveries to autonomous vehicles, safety is …

Robotic manipulators that can coexist with humans need formal safety guarantees. Current
solutions cannot handle both input and state constraints, reduce the robot capabilities, or are …

In recent years there has been a concerted effort to address many of the safety issues
associated with physical human–robot interaction (pHRI). However, a number of challenges …

Recent advances in robotics have spurred its adoption into new application areas such as
medical, rescue, transportation, logistics, personal care and entertainment. In the personal …

When designing controllers for dynamical systems, safety is always one of the most
important con-siderations. Classical control methods are able to find solutions so that the …

Safe manipulator/task interaction is defined and quantified based on interaction forces
resulting from manipulator motion commands. H1 and H*** safety bounds are introduced for …

In this paper we review our work on safe control, acting, and planning in human
environments. In order for a robot to be able to safely interact with its environment it is …

Automated and robotized systems are widely used in industry with deployment to perform
unsafe, hazardous, highly repetitive and unpleasant tasks for human. Furthermore, industrial …

Increasingly, robots are working in close proximity with humans, and in dynamically
changing environments. We present a new control architecture that guarantees safety under …

The implementation of hybrid control in the presence of passive compliance | The fifth
international symposium on Robotics research skip to main content ACM Digital Library home …