ソフトロボットの接触対応安全制御：高次制御バリア関数とリアプノフ関数によるアプローチ
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
ソフトロボットの全身接触力を制限するため、微分可能なCosseratセグメント動力学モデルと凸多角形距離近似を組み合わせ、高次制御バリア関数と高次制御リアプノフ関数を最適化に組み込む枠組みを提案した。
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著者: Kiwan Wong, Maximilian Stölzle, Wei Xiao, Cosimo Della Santina, Daniela Rus, Gioele Zardini
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators promise safety through material compliance, but as designs evolve for greater precision, payload capacity, and speed, and increasingly incorporate rigid elements, their injury risk resurfaces. In this letter, we introduce a comprehensive High-Order Control Barrier Function (HOCBF) + High-Order Control Lyapunov Function (HOCLF) framework that enforces strict contact force limits across the entire soft-robot body during environmental interactions. Our approach combines a differentiable Piecewise Cosserat-Segment (PCS) dynamics model with a convex-polygon distance approximation metric, named Differentiable Conservative Separating Axis Theorem (DCSAT), based on the soft robot geometry to enable real-time, whole-body collision detection, resolution, and enforcement of the safety constraints. By embedding HOCBFs into our optimization routine, we guarantee safety, allowing, for instance, safe navigation in operational space under HOCLF-driven motion objectives. Extensive planar simulations demonstrate that our method maintains safety-bounded contacts while achieving precise shape and task-space regulation. This work thus lays a foundation for the deployment of soft robots in human-centric environments with provable safety and performance.
関連論文
- 制御バリア関数を用いたソフトロボットの安全な自律環境接触ソフトロボティクス/安全制御
