Robot Motion Control and Obstacle Avoidance on 7-DOF Manipulator (Nominal & Perturbation Trials)
0.0001Execution Time (s)SafeDMPs
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SafeDMPsFormal Safety=true, Robust Recovery=true, No Online Optim.=true2026.06 | 0.0001 | 0.0113 | 0.0531 | 0.025 | 0 | 0.045 | 0.633 | |
| HJ-SafeDMPFormal Safety=true, Robust Recovery=true, No Online Optim.=true2026.06 | 0.0001 | 0.0098 | 0.0187 | 0.031 | 0 | 0.038 | 0.287 | |
| DMP-APFFormal Safety=false, Robust Recovery=false, No Online Optim.=true2026.06 | 0.0007 | 0.023 | 0.0228 | 0.411 | 14 | — | — | |
| NODE-CLF-CBFFormal Safety=true, Robust Recovery=false, No Online Optim.=false2026.06 | 0.3207 | 0.2244 | 0.3921 | 1.294 | 0 | 0.012 | 0.411 |