Ferraguti, Federica and Talignani Landi, Chiara and Singletary, Andrew and Lin, Hsien-Chung and Ames, Aaron and Secchi, Cristian and Bonfe, Marcello (2022) Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robotics and Automation Magazine . ISSN 1070-9932. doi:10.1109/mra.2022.3174699. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000
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Abstract
This article aims at presenting an introductory overview of the theoretical framework of control barrier functions (CBFs) and of their application to the design of safety-related controllers for robotic systems. The article starts by describing the basic concepts of CBFs and how they can be used to build optimization problems embedding CBF-based constraints, whose solutions correspond to the control input enforcing the desired safety properties into the behavior of the controlled system. Simple examples, understandable for readers with a basic background in control theory and accompanied with source code for their simulation, are used to highlight the appealing features of the CBF-based approach. Then, more complex formulations applicable to robotic manipulators are introduced, recalling recent literature results allowing users to implement a robust design methodology. Finally, it is shown that CBFs are suitable for the implementation of safe human–robot collaboration in a realistic industrial scenario by means of the experimental validation in an industrial setup for collaborative robotics.
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Additional Information: | © 2022 IEEE. The authors would like to thank FANUC America Corporation; Tetsuaki Kato, the general manager of the FANUC Advanced Research Laboratory; and Jason Tsai, the advisor of the FANUC Advanced Research Laboratory. | ||||||||||||||||
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DOI: | 10.1109/mra.2022.3174699 | ||||||||||||||||
Record Number: | CaltechAUTHORS:20220614-222253000 | ||||||||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000 | ||||||||||||||||
Official Citation: | F. Ferraguti et al., "Safety and Efficiency in Robotics: The Control Barrier Functions Approach," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2022.3174699. | ||||||||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||||||
ID Code: | 115151 | ||||||||||||||||
Collection: | CaltechAUTHORS | ||||||||||||||||
Deposited By: | George Porter | ||||||||||||||||
Deposited On: | 14 Jun 2022 20:42 | ||||||||||||||||
Last Modified: | 14 Jun 2022 20:42 |
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