{"id":"https://openalex.org/W4415221878","doi":"https://doi.org/10.1109/lra.2025.3621965","title":"Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions","display_name":"Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions","publication_year":2025,"publication_date":"2025-10-15","ids":{"openalex":"https://openalex.org/W4415221878","doi":"https://doi.org/10.1109/lra.2025.3621965"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3621965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3621965","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2505.03841","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100590651","display_name":"Kiwan Wong","orcid":"https://orcid.org/0000-0002-5736-3465"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kiwan Wong","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5736-3465","affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043272952","display_name":"Maximilian St\u00f6lzle","orcid":"https://orcid.org/0000-0002-2608-9758"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maximilian St\u00f6lzle","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2608-9758","affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058590941","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0001-9622-6415"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9622-6415","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, Delft, CD, Netherlands","Robotics, Delft University of Technology, Delft, CD, Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1067-1134","affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, Delft, CD, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Robotics, Delft University of Technology, Delft, CD, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5473-3566","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043524649","display_name":"Gioele Zardini","orcid":"https://orcid.org/0000-0002-6601-2237"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gioele Zardini","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6601-2237","affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1256,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76268612,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"12","first_page":"12485","last_page":"12492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6741999983787537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6740999817848206},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.6362000107765198},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5184000134468079},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49630001187324524},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4934999942779541},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4867999851703644},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43299999833106995},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4147999882698059},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.36880001425743103}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6741999983787537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6740999817848206},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.6362000107765198},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5184000134468079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5060999989509583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49630001187324524},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4934999942779541},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4867999851703644},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43299999833106995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43160000443458557},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4147999882698059},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.36880001425743103},{"id":"https://openalex.org/C206444204","wikidata":"https://www.wikidata.org/wiki/Q17086162","display_name":"Geometric mechanics","level":5,"score":0.3589000105857849},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.35530000925064087},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29249998927116394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2831999957561493},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2816999852657318},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27489998936653137},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3621965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3621965","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2505.03841","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.03841","pdf_url":"https://arxiv.org/pdf/2505.03841","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:zenodo.org:17463851","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2025.3621965","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters (RA-L), 10(12), 12485-12492, (2025-10-15)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2505.03841","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.03841","pdf_url":"https://arxiv.org/pdf/2505.03841","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0],"operating":[1],"alongside":[2],"people,":[3],"particularly":[4],"in":[5,20,147,183],"sensitive":[6],"scenarios":[7],"such":[8],"as":[9,38],"aiding":[10],"the":[11,83,115,129,178],"elderly":[12],"with":[13,18,100,186],"daily":[14],"tasks":[15],"or":[16],"collaborating":[17],"workers":[19],"manufacturing,":[21],"must":[22],"guarantee":[23,140],"safety":[24,33,130,188],"and":[25,46,48,126,168,189],"cultivate":[26],"user":[27],"trust.":[28],"Continuum":[29],"soft":[30,116,181],"manipulators":[31],"promise":[32],"through":[34],"material":[35],"compliance,":[36],"but":[37],"designs":[39],"evolve":[40],"for":[41,143,177],"greater":[42],"precision,":[43],"payload":[44],"capacity,":[45],"speed,":[47],"increasingly":[49],"incorporate":[50],"rigid":[51],"elements,":[52],"their":[53],"injury":[54],"risk":[55],"resurfaces.":[56],"In":[57],"this":[58],"letter,":[59],"we":[60,139],"introduce":[61],"a":[62,93,101,175],"comprehensive":[63],"High-Order":[64,70],"Control":[65,71],"Barrier":[66],"Function":[67,73],"(HOCBF)":[68],"+":[69],"Lyapunov":[72],"(HOCLF)":[74],"framework":[75],"that":[76,158],"enforces":[77],"strict":[78],"contact":[79],"force":[80],"limits":[81],"across":[82],"entire":[84],"soft-robot":[85],"body":[86],"during":[87],"environmental":[88],"interactions.":[89],"Our":[90],"approach":[91],"combines":[92],"differentiable":[94],"Piecewise":[95],"Cosserat-Segment":[96],"(PCS)":[97],"dynamics":[98],"model":[99],"convex-polygon":[102],"distance":[103],"approximation":[104],"metric,":[105],"named":[106],"Differentiable":[107],"Conservative":[108],"Separating":[109],"Axis":[110],"Theorem":[111],"(DCSAT),":[112],"based":[113],"on":[114],"robot":[117],"geometry":[118],"to":[119],"enable":[120],"real-time,":[121],"whole-body":[122],"collision":[123],"detection,":[124],"resolution,":[125],"enforcement":[127],"of":[128,180],"constraints.":[131],"By":[132],"embedding":[133],"HOCBFs":[134],"into":[135],"our":[136,159],"optimization":[137],"routine,":[138],"safety,":[141],"allowing,":[142],"instance,":[144],"safe":[145],"navigation":[146],"operational":[148],"space":[149],"under":[150],"HOCLF-driven":[151],"motion":[152],"objectives.":[153],"Extensive":[154],"planar":[155],"simulations":[156],"demonstrate":[157],"method":[160],"maintains":[161],"safety-bounded":[162],"contacts":[163],"while":[164],"achieving":[165],"precise":[166],"shape":[167],"task-space":[169],"regulation.":[170],"This":[171],"work":[172],"thus":[173],"lays":[174],"foundation":[176],"deployment":[179],"robots":[182],"human-centric":[184],"environments":[185],"provable":[187],"performance.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-07-20T07:56:41.581041","created_date":"2025-10-16T00:00:00"}
