Safety-Critical Control for Smoothed Implicit Contact Dynamics
Overview
A new paper proposes safety-filter design for contact-rich systems using control barrier functions and boundary-focused rollouts, improving safety in simulations without predefined mode sequences.
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- arXiv Robotics — research abstractsSafety-Critical Control for Smoothed Implicit Contact Dynamics
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.
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