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- W2022208167 abstract "A systematic approach for the supervision-based safe motion control of mobility assistive robots based on invariance control is presented. It allows the formulation of safety features in the form of a constraint admissible state space region that can be kept invariant by proper switching between a nominal and a corrective controller whenever a predefined safety constraint is about to be in violation. Boundaries on the human-robot distance are considered critical safety features for human forward fall and human-robot collision avoidance. The nominal and corrective controller as well as the switching policy are derived. The approach is validated in simulations and experiments and shows high potential for building a systematic safety framework for mobility assistive robots." @default.
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- W2022208167 date "2014-08-01" @default.
- W2022208167 modified "2023-09-24" @default.
- W2022208167 title "Safety constrained motion control of mobility assistive robots" @default.
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- W2022208167 doi "https://doi.org/10.1109/biorob.2014.6913923" @default.
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