让机器人接触环境更安全，还能平滑切换运动模式。
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
- 在高层规划与底层控制间加入约束管理模块
- 接触时自动限制机械臂能量，确保安全
- 既保性能又防碰撞，适合交互任务
本文提出一种可变形显式参考调节器（CERG），作为介于高层规划器与底层控制器之间的模块化参考管理机制，使机器人在物理交互中获得可证明的安全性保障。CERG通过限制接触瞬间机械臂的总能量来确保安全性，在无接触情况下则不干扰系统性能，实现自由运动与接触操作间的平稳过渡。该方法在复杂仿真与硬件实验中均得到验证。
原文摘要 · Abstract (English)
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment under provable guarantees. The CERG is an intermediate layer that can be placed between a high-level planner and a low-level controller: it enforces operational constraints and enables smooth transitions between free-motion and contact operations. The CERG ensures safety by limiting the total energy available to the robotic arm at the time of contact. In the absence of contact, however, the CERG does not penalize the system performance. Simulation and hardware experiments validate the CERG on increasingly complex systems.
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