Research paper
Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
Hierarchical quadratic programming organizes contact-performance and safety tasks at different priorities. Experiments on a redundant manipulator explore the trade-offs. The priority and relaxation policy must be examined because feasibility of the optimization is not evidence that every safety constraint remains satisfied.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
- Publisher
- arXiv
- Authors
- Luo, Rui, Jakobsen, Jonas Mariager, Roozing, Wesley, Califano, Federico, Fang, Cheng
- DOI
- 10.48550/arxiv.2604.23039
- First archive posting
- 2026-04-24
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
Hierarchical quadratic programming organizes contact-performance and safety tasks at different priorities. Experiments on a redundant manipulator explore the trade-offs. The priority and relaxation policy must be examined because feasibility of the optimization is not evidence that every safety constraint remains satisfied.
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
Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2026-04-24, abstract reviewed in v1. Publisher dates are separate.