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Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints

Fuente: arXiv

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Bibliographic Details
Main Authors:	Lawan, Faisal, Han, Xiaoran, Carrasco, Joaquin, Lennox, Barry, Cheng, Xiaoxiao
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
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