Safety-Critical Kinematic Control of Robotic Systems

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending methodology of control barrier functions (CBFs) equations governing We demonstrate purely implementation velocity-based CBF, subsequently introduce formulation that guarantees safety at level dynamics. This is achieved through new form CBFs incorporate kinetic energy with classical forms, thereby minimizing model dependence conservativeness. The approach then extended underactuated method are demonstrated simulation on two platforms: 6-DOF manipulator, cart-pole system.