About UsThe recent research of MSC lab has focused on intelligent/autonomous mechanical systems and their interaction with humans from manufacturing (industrial robots) to transportation (autonomous driving) with synergies between model-based control methodologies with machine learning.
Safe OnGO-VIC: Online Gain Optimization for Variable Impedance Control with Control Barrier Functions
We present a safe gain optimization algorithm for variable impedance control with control barrier functions. The algorithm is able to obtain the optimal impedance gain without manully tuning and avoid unwanted collisions in real-time. Check out our webiste page here.