arXiv Robotics — research abstracts· Haegu Lee, Yitaek Kim, Christoffer Sloth·· 1 days agoEditorial score42
Safety-Critical Control for Smoothed Implicit Contact Dynamics
Safety-Critical Control for Smoothed Implicit Contact Dynamics
Summary
This paper addresses safety-filter design for smoothed implicit contact dynamics. It introduces a framework using control barrier functions and boundary-focused rollouts to mitigate force violations. Simulations show improved safety in contact-rich systems.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org