Gengfeng Zheng

DSEC-Aware: Post-Collision Safety Control of Mobile Manipulators via Directional Energy Constraints

In this letter, we introduce a Directionally-aware Dynamic Energy Constraint (DSEC-Aware) framework to enhance energy-based safety control in post-collision human-robot collaboration (HRC). The method employs a selective energy dissipation mechanism, applying variable damping only along critical col