制御バリア関数を用いた自己接触を伴うソフト・リジッドハイブリッドロボットの安全制御
Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions
柔軟部と剛体部を組み合わせたロボットの自己接触問題に対し、制御バリア関数(CBF)と高次CBFを適用して安全に制御する手法を提案し、シミュレーションと実機で有効性を検証した。
著者: Zach J. Patterson, Wei Xiao, Emily Sologuren, Daniela Rus
分類: cs.RO
原文アブストラクト
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for controlling soft-rigid hybrid robots, particularly addressing the issue of self-contact. Conventional control methods prioritize precise state tracking, inadvertently increasing the system's overall stiffness, which is not always desirable in interactions with the environment or within the robot itself. To address this, we investigate the application of Control Barrier Functions (CBFs) and High Order CBFs to manage self-contact scenarios in serially connected soft-rigid hybrid robots. Through an analysis based on Piecewise Constant Curvature (PCC) kinematics, we establish CBFs within a classical control framework for self-contact dynamics. Our methodology is rigorously evaluated in both simulation environments and physical hardware systems. The findings demonstrate that our proposed control strategy effectively regulates self-contact in soft-rigid hybrid robotic systems, marking a significant advancement in the field of robotics.
