Research paper
Force-Compliance MPC and Robot-User CBFs for Interactive Navigation and User-Robot Safety in Hexapod Guide Robots
The HexGuide study combines force-compliant MPC with robot-user CBF constraints to respond to a user's pull while avoiding obstacles. Hardware experiments support the navigation concept. Weighted slack handles infeasibility, so relaxed constraints and perception failures need explicit assessment before assistive deployment.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Force-Compliance MPC and Robot-User CBFs for Interactive Navigation and User-Robot Safety in Hexapod Guide Robots
- Publisher
- arXiv
- Authors
- Fan, Zehua, Gao, Feng, Chen, Zhijun, Yin, Yunpeng, Yang, Limin, Xi, Qingxing, Yang, En, Luo, Xuefeng
- DOI
- 10.48550/arxiv.2508.03246
- First archive posting
- 2025-08-05
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
The HexGuide study combines force-compliant MPC with robot-user CBF constraints to respond to a user's pull while avoiding obstacles. Hardware experiments support the navigation concept. Weighted slack handles infeasibility, so relaxed constraints and perception failures need explicit assessment before assistive deployment.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Force-Compliance MPC and Robot-User CBFs for Interactive Navigation and User-Robot Safety in Hexapod Guide Robots ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2025-08-05, abstract reviewed in v1. Publisher dates are separate.