动态变化下实时调整安全控制，让四足机器人稳行避障
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
- 通过安全指数自适应，实时响应负载变化
- 确保机器人在安全区保持稳定并快速回归
- 适合需要动态适应的机器人安全控制场景
实际部署中，系统动态变化带来安全控制难题。安全指数合成（SIS）高度依赖系统动力学，一旦动态改变，原有安全指数即失效。本文展示安全指数自适应（SIA）在动态变化下的实时有效性。SIA实现对动态变化的实时响应，使适配后的安全控制律仍能保证：1）安全区域的前向不变性；2）有限时间内收敛至安全区域。本工作将SIA应用于负重可变的四足机器人，当负载重量实时变化时，SIA动态更新安全指数，使机器人在完成任务目标的同时有效避障。数值分析提供理论保障，一系列硬件实验验证了SIA在真实环境中应对动态变化、实现避障的有效性。
原文摘要 · Abstract (English)
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.
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