# Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control

> Research article (2021 60th IEEE Conference on Decision and Control (CDC), 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3204383275](https://www.wikidata.org/wiki/openalex:W3204383275)  
**Source**: https://4ort.xyz/entity/control-barrier-functions-for-singularity-avoidance-in-passivity-based-manipulator-control