一貫した抽象化による高次元システムのゼロショット転移可能かつ持続的に実行可能な安全制御
Zero-shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction
高次元システムの冗長性を利用して低次元モデル上でエネルギー関数を設計し、制御限界下でも常に実行可能な安全制御を実現する抽象安全制御を提案。7自由度ロボットアームでゼロショット転移と安全性を実証。
著者: Tianhao Wei, Shucheng Kang, Ruixuan Liu, Changliu Liu
分類: cs.RO
原文アブストラクト
Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible safe control at all system states. However, designing such an energy function for high-dimensional nonlinear systems remains challenging. Considering the fact that there are redundant dynamics in high dimensional systems with respect to the safety specifications, this paper proposes a novel approach called abstract safe control. We propose a system abstraction method that enables the design of energy functions on a low-dimensional model. Then we can synthesize the energy function with respect to the low-dimensional model to ensure persistent feasibility. The resulting safe controller can be directly transferred to other systems with the same abstraction, e.g., when a robot arm holds different tools. The proposed approach is demonstrated on a 7-DoF robot arm (14 states) both in simulation and real-world. Our method always finds feasible control and achieves zero safety violations in 500 trials on 5 different systems.
