2020
A Control Barrier Function Approach for Maximizing Performance While Fulfilling to ISO/TS 15066 Regulations
Federica Ferraguti, Mattia Bertuletti, Chiara Talignani Landi, Marcello Bonfè, Cesare Fantuzzi, Cristian Secchi
RA-L 2020
ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot an