ローラーアーム付き四足ロボットの安全クリティカル制御：複雑環境の自律検査に向けて
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
ローラーアームを備えた四足ロボットが蒸留塔の棚を移動し段差を乗り越えるため、制御バリア関数や足場再計画を組み合わせた安全な自律移動フレームワークを提案し、実験で検証した。
著者: Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamas G. Molnar, Aaron D. Ames
分類: cs.RO
原文アブストラクト
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study, we consider the problem of operating a quadrupedal robot in distillation columns, locomoting on column trays and transitioning between these trays with a roller arm. To address this problem, our framework encompasses the following key elements: 1) Trajectory generation for seamless transitions between columns, 2) Foothold re-planning in regions deemed unsafe, 3) Safety-critical control incorporating control barrier functions, 4) Gait transitions based on safety levels, and 5) A low-level controller. Our comprehensive framework, comprising these components, enables autonomous and safe locomotion across multiple layers. We incorporate reduced-order and full-body models to ensure safety, integrating safety-critical control and footstep re-planning approaches. We validate the effectiveness of our proposed framework through practical experiments involving a quadruped robot equipped with a roller arm, successfully navigating and transitioning between different levels within the column tray structure.
