Safe Robot Trajectory Control Using Probabilistic Movement Primitives and Control Barrier Functions

In this paper, we present a novel means of control design for probabilistic movement primitives (ProMPs). Our proposed approach makes use of control barrier functions and control Lyapunov functions defined by a ProMP distribution. Thus, a robot may move along a trajectory within the distribution whi...

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Detalles Bibliográficos
Autores principales: Davoodi, Mohammadreza, Iqbal, Asif, Cloud, Joseph M., Beksi, William J., Gans, Nicholas R.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8965845/
https://www.ncbi.nlm.nih.gov/pubmed/35368435
http://dx.doi.org/10.3389/frobt.2022.772228

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8965845/
https://www.ncbi.nlm.nih.gov/pubmed/35368435
http://dx.doi.org/10.3389/frobt.2022.772228

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