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- W4287283352 abstract "In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to ensure safety and reactivity to the variable conditions of the collaborative scenario. In this paper we propose a control architecture capable of maximizing the flexibility of the robot while guaranteeing a stable behavior when physically interacting with the environment. This is achieved by combining an energy tank based variable admittance architecture with control barrier functions. The proposed architecture is experimentally validated on a collaborative robot." @default.
- W4287283352 created "2022-07-25" @default.
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- W4287283352 date "2021-03-04" @default.
- W4287283352 modified "2023-10-18" @default.
- W4287283352 title "An Optimization Approach for a Robust and Flexible Control in Collaborative Applications" @default.
- W4287283352 doi "https://doi.org/10.48550/arxiv.2103.03082" @default.
- W4287283352 hasPublicationYear "2021" @default.
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