ローラーアームを備えた四足歩行ロボットによる蒸留塔の安全クリティカル自律検査
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
四足歩行ロボットとローラーアームを用い、制御バリア関数に基づく安全フィルタと足場再計画により、蒸留塔トレイの自律的かつ安全な検査を実現するフレームワークを提案した。
著者: Jaemin Lee, Jeeseop Kim, Aaron D. Ames
分類: cs.RO
原文アブストラクト
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller arms, and through the use of onboard perception, we integrate essential motion components including: locomotion, safe and dynamic transitions between trays, and intermediate motions that bridge a variety of motion primitives. Given the slippery and confined nature of column trays, it is critical to ensure safety of the robot during inspection, therefore we employ a safety filter and footstep re-planning based upon control barrier function representations of the environment. Our framework integrates all system components into a state machine encoding the developed safety-critical planning and control elements to guarantee safety-critical autonomy, enabling autonomous and safe navigation and inspection of distillation columns. Experimental validation in an environment, consisting of industrial-grade chemical distillation trays, highlights the effectiveness of our multi-layered architecture.
