Safe execution of learned orientation skills with conic control barrier functions

HIGHLIGHTS

• What: The authors provide a formal proof of its asymptotic stability. (ii) A novel approach that extracts orientation constraints based on the variability of demonstrations and exploits Conic Control Barrier Function (CCBF) to ensure safe execution. (iii) Validation of the method in simulation and in an assisted teleoperation experiment focused on robotic cutting tasks. The authors show the applicability of the method to assisted teleoperation while providing formal safety guarantees. In this experiment, the authors focused on learning and executing a cutting skill in an assisted teleoperation scenario. The authors aim to improve the approach`s usability . . .
  

   

  

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