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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2022
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| Materias: | |
| 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 |