Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions

  title={Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions},
  author={Armin Lederer and Azra Begzadi'c and Neha Das and Sandra Hirche},
Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both adherence to safety constraints defined on the system state, as well as guaranteeing compliant behavior of the robot. If the underlying dynamical system is known exactly, the former can be addressed with the help of control barrier functions. The incorporation of elastic actuators in the robot's mechanical design can address the latter requirement. However, this elasticity can… 

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