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2505.03841
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Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
5 May 2025
Kiwan Wong
Maximilian Stolzle
Wei Xiao
Cosimo Della Santina
Daniela Rus
Gioele Zardini
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"Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions"
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