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Safety-Critical Kinematic Control of Robotic Systems

Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D. (2022) Safety-Critical Kinematic Control of Robotic Systems. IEEE Control Systems Letters, 6 . pp. 139-144. ISSN 2475-1456. doi:10.1109/LCSYS.2021.3050609.

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Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending the methodology of control barrier functions (CBFs) to kinematic equations governing robotic systems. We demonstrate a purely kinematic implementation of a velocity-based CBF, and subsequently introduce a formulation that guarantees safety at the level of dynamics. This is achieved through a new form of CBFs that incorporate kinetic energy with the classical forms, thereby minimizing model dependence and conservativeness. The approach is then extended to underactuated systems. This method and the purely kinematic implementation are demonstrated in simulation on two robotic platforms: a 6-DOF robotic manipulator, and a cart-pole system.

Item Type:Article
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URLURL TypeDescription Paper
Singletary, Andrew0000-0001-6635-4256
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. Manuscript received September 14, 2020; revised November 20, 2020; accepted December 9, 2020. Date of publication January 11, 2021; date of current version June 23, 2021. This research is supported in part by NSF CPS award 1932091, in part by NRI award 1924526, and in part by Aerovironment. Recommended by Senior Editor F. Dabbene.
Funding AgencyGrant Number
Subject Keywords:Robotics, robust control, safety-critical control
Record Number:CaltechAUTHORS:20201109-155517556
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Official Citation:A. Singletary, S. Kolathaya and A. D. Ames, "Safety-Critical Kinematic Control of Robotic Systems," in IEEE Control Systems Letters, vol. 6, pp. 139-144, 2022, doi: 10.1109/LCSYS.2021.3050609
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106567
Deposited By: George Porter
Deposited On:10 Nov 2020 15:17
Last Modified:08 Jul 2021 17:49

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