動特性変化に対応する安全指数適応による四足ロボットの安全制御
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
荷物の重さがリアルタイムで変わる四足ロボットにおいて、安全指数をオンラインで適応させることで、動特性が変化しても障害物回避と安全領域の維持を両立できることを実験で示した。
著者: Kai S. Yun, Rui Chen, Chase Dunaway, John M. Dolan, Changliu Liu
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dynamics change, the previously synthesized safety index becomes invalid. In this work, we show the real-time efficacy of Safety Index Adaptation (SIA) in varying dynamics. SIA enables real-time adaptation to the changing dynamics so that the adapted safe control law can still guarantee 1) forward invariance within a safe region and 2) finite time convergence to that safe region. This work employs SIA on a package-carrying quadruped robot, where the payload weight changes in real-time. SIA updates the safety index when the dynamics change, e.g., a change in payload weight, so that the quadruped can avoid obstacles while achieving its performance objectives. Numerical study provides theoretical guarantees for SIA and a series of hardware experiments demonstrate the effectiveness of SIA in real-world deployment in avoiding obstacles under varying dynamics.
