2026
Safe Autonomous Environmental Contact for Soft Robots Using Control Barrier Functions
Akua Dickson, Juan Pacheco Garcia, Meredith Anderson, Ran Jing, Sarah Alizadeh-Shabdiz, Audrey Wang +3
ICRA 2026poster
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result from both their design and their control system in closed-lo…