Constrained robot control using control barrier functions

Manuel Rauscher, Melanie Kimmel, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

84 Scopus citations

Abstract

Many robotic applications, especially if humans are involved, require the robot to adhere to certain joint, workspace, velocity or force limits while simultaneously executing a task. In this paper, we introduce a control structure, which merges an arbitrary desired robot behavior with given constraints. Using a quadratic program (QP), control barrier functions (CBFs) are combined with an arbitrary nominal control law, which determines the desired behavior. The CBFs enforce the constraints, overruling nominal control whenever necessary.We show that the concept is applicable with arbitrary numbers of constraints and any nominal control law. In order to illustrate the capabilities of the approach, the control scheme is applied to an anthropomorphic manipulator, which is constrained by static as well as moving constraints.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages279-285
Number of pages7
ISBN (Electronic)9781509037629
DOIs
StatePublished - 28 Nov 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/TerritoryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16

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