Alapfogalmak
Incorporating Control Barrier Functions for safe self-contact in soft-rigid hybrid robots is an effective strategy.
Kivonat
The content explores the challenges and solutions for controlling soft-rigid hybrid robots, focusing on self-contact issues. It introduces Control Barrier Functions (CBFs) and High Order CBFs to manage self-contact scenarios. The methodology is evaluated in simulation environments and physical hardware systems, demonstrating effective regulation of self-contact in soft-rigid hybrid robotic systems. The content is structured into sections covering Introduction, Preliminaries and System Formulation, Control Approach, Simulation Results, Hardware Results, Discussion and Conclusion, and References.
Introduction
- Soft-rigid hybrid robots offer compliance and strength.
- Challenges in controlling self-contact in soft-rigid robots.
Preliminaries and System Formulation
- Introduction to High Order CBFs for control systems.
- Kinematics and dynamics of soft-rigid robots.
Control Approach
- Nominal control input using a PD+ controller.
- Implementation of CBFs for safe self-contact.
Simulation Results
- Implementation of safety constraints in simulation.
- Parameters, setup, and results of the simulation.
Hardware Results
- Validation of the approach on hardware.
- Parameters, setup, and results of the hardware experiment.
Discussion and Conclusion
- Effectiveness of CBFs in regulating self-contact.
- Potential issues and future directions.
Statisztikák
"Parameters are set to L0 = 0.1m, d = 0.04m, r = 0.05m, bending stiffness κθ = 10 Nm rad, axial stiffness κL = 10 N m, bending damping βθ = 5 Nms rad, axial damping βL = 5 Ns m, and module mass mj = 0.15kg."
"PD gains are set to KP = 5 and KD = 1."
"For our barrier functions, ϵj = 0.005m for all safety constraints."
Idézetek
"CBFs provide a natural mechanism to design controllers that can gracefully regulate behavior near contact points."
"The CBF prevents the safety constraints from dropping below zero, counteracting the safety constraint."