首页|Findings on Robotics Detailed by Investigators at Nanyang Technological Universi ty (Safe Human Dual-robot Interaction Based On Control Barrier Functions and Coo peration Functions)
Findings on Robotics Detailed by Investigators at Nanyang Technological Universi ty (Safe Human Dual-robot Interaction Based On Control Barrier Functions and Coo peration Functions)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning DailyNews Daily News-Current study results on Robotics have been published. According to news reportingout of Singapore, Singapore, by New sRx editors, research stated, "Nowadays, humans are allowed to workside-by-side with a robot team, which consists of dual robots in most cases. To ensure human safety, themotion of each robot should be reactive to and compliant with human s via human-in-the-loop control."Financial support for this research came from National Research Foundation, Sing apore, under theNRF Medium Sized Centre scheme (CARTIN).Our news journalists obtained a quote from the research from Nanyang Technologic al University,"Furthermore, when the robots conduct a cooperative task, the rea ctive and compliant motion of eachrobot must fulfill the constraints imposed by the cooperation with the other robot. It is challenging toguarantee human safe ty and robot cooperation simultaneously, especially in a decentralized architecture. This letter presents a decentralized control framework that guarantees both human safety and robotcooperation in human dual-robot interaction. First, the high-order time-varying control barrier functions(HO-TV-CBFs) are defined to re present human safety, based on which a safety control set is formulatedto guara ntee human safety. Second, the cooperation functions are introduced to abstract the cooperationconstraints of different cooperative tasks of dual robots, which are further guaranteed by a cooperationcontrol set. Then, a centralized contro l framework based on the safety and cooperation control setsis constructed. Fin ally, the centralized control framework is decentralized while maintaining the s ameperformance."
SingaporeSingaporeAsiaEmerging Tec hnologiesMachine LearningNano-robotRobotRoboticsNanyang Technological University
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