@inproceedings{8d49d75bfe9f4e51a101e9f39c1cc42e,
title = "Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control",
author = "Vince Kurtz and Wensing, \{Patrick M.\} and Hai Lin",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 60th IEEE Conference on Decision and Control, CDC 2021 ; Conference date: 13-12-2021 Through 17-12-2021",
year = "2021",
doi = "10.1109/CDC45484.2021.9683597",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "IEEE (Institute of Electrical and Electronics Engineers)",
pages = "6125--6130",
booktitle = "60th IEEE Conference on Decision and Control, CDC 2021",
}