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Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains challenging. In addition, their slender structures often lead to uneven load distributions and nonuniform tracking errors along the body. To address these issues, this work proposes a weighted control barrier functions (W-CBFs) framework that enforces safety constraints while reducing tracking errors caused by uneven loading. The proposed controller was first evaluated on a circular path-following task under different obstacle configurations.

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