让双足机器人在障碍物密集环境中安全穿越不可行路径。
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
- 基于物理交互反馈构建安全条件优先级，动态生成避障轨迹。
- 无需额外规划即可实现安全导航，降低碰撞风险。
- 结合倒立摆模型与扰动观测器，提升运动鲁棒性。
本文提出一种面向复杂障碍环境中不可行路径探索的双足机器人安全关键运动控制框架。研究聚焦于机器人在前往指定目的地途中遭遇不可避免障碍时的安全部署。通过利用与未知物体的物理交互结果，建立安全约束间的优先级层次，从而生成安全参考轨迹，有效缓解多重安全条件间的冲突，在不依赖额外运动规划的前提下降低运动风险。同时，采用混合线性倒立摆模型结合扰动观测器，应对物理交互带来的扰动，实现稳健的双足行走控制。
原文摘要 · Abstract (English)
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots confront unavoidable obstacles en route to their designated destination. Through the utilization of outcomes from physical interactions with unknown objects, we establish a hierarchy among the safety-critical conditions avoiding the obstacles. This hierarchy enables the generation of a safe reference trajectory that adeptly mitigates conflicts among safety conditions and reduce the risk while controlling the robot toward its destination without additional motion planning methods. In addition, robust bipedal locomotion is achieved by utilizing the Hybrid Linear Inverted Pendulum model, coupled with a disturbance observer addressing a disturbance from the physical interaction.
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