前方可到達集合に基づく制御バリア関数と階層型制御による脚ロボットの安全臨界調整
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions
前方可到達集合に基づく高次制御バリア関数と階層型制御器を組み合わせ、動的環境で脚ロボット群が安全に協調移動できる手法を提案し、シミュレーションと実機で検証した。
著者: Jeeseop Kim, Jaemin Lee, Aaron D. Ames
分類: cs.RO
原文アブストラクト
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controller. The top-level planner generates a safety-ensured trajectory for each agent, accounting for the dynamic constraints in the environment. This planner leverages high-order CBFs based on the forward reachable set to ensure safety-critical coordination control, i.e., guarantee the safe coordination of the robots during locomotion. The middle-level trajectory planner employs single rigid body (SRB) dynamics to generate optimal ground reaction forces (GRFs) to track the safety-ensured trajectories from the top-level planner. The whole-body motions to adhere to the optimal GRFs while ensuring the friction cone condition at the end of each stance leg are generated from the low-level controller. The effectiveness of the approach is demonstrated through simulation and hardware experiments.
