نسخة أولية وصول مفتوح
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains challenging. In addition, their slender structures often lead to uneven load distributions and nonuniform tracking errors along the body. To address these issues, this …