Core Concepts
Incorporating Control Barrier Functions for safe self-contact in soft-rigid hybrid robots is an effective strategy.
Abstract
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.
Stats
"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."
Quotes
"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."