バリア関数による安全を考慮した力フィードバック制御
Barrier functions enable safety-conscious force-feedback control
制御バリア関数（CBF）を用いて、許容される最大の力とトルクの仕様から直接コンプライアントな力フィードバック制御器を導出する手法を提案し、人間との協調作業で有効性を示した。
著者: Charles Dawson, Austin Garrett, Falk Pollok, Yang Zhang, Chuchu Fan
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some force is required to accomplish the task but too much might damage equipment or injure humans. Traditional approaches to designing compliant force-feedback controllers, such as stiffness control, require difficult hand-tuning of control parameters and make it difficult to build safe, effective robot collaborators. In this paper, we propose a novel yet easy-to-implement force feedback controller that uses control barrier functions (CBFs) to derive a compliant controller directly from users' specifications of the maximum allowable forces and torques. We compare our approach to traditional stiffness control to demonstrate potential advantages of our control architecture, and we demonstrate the effectiveness of our controller on an example human-robot collaboration task: cooperative manipulation of a bulky object.
