社会的に受容される二足歩行ナビゲーション：信号時相論理に基づく安全な移動手法
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion
人混みの中を歩く二足歩行ロボットのため、人間の群衆データから社会的に受け入れられる経路を生成し、信号時相論理で歩行の安全性を保証する経路計画手法を提案した。
著者: Abdulaziz Shamsah, Ye Zhao
分類: cs.RO
原文アブストラクト
Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded environment. We propose a social path planner that ensures the locomotion safety of the bipedal robot while navigating under a social norm. The proposed planner leverages a conditional variational autoencoder architecture and learns from human crowd datasets to produce a socially acceptable path plan. Robot-specific locomotion safety is formally enforced by incorporating signal temporal logic specifications during the learning process. We demonstrate the integration of the social path planner with a model predictive controller and a low-level passivity controller to enable comprehensive full-body joint control of Digit in a dynamic simulation.
