Safety-critical control of quadrupedal robots with rolling arms for autonomous inspection of complex environments
Lee, Jaemin Kim, Jeeseop Ubellacker, Wyatt Molnar, Tamas G. Ames, Aaron D.
Lee, Jaemin
Kim, Jeeseop
Ubellacker, Wyatt
Molnar, Tamas G.
Ames, Aaron D.
Citations
Altmetric:
Other Names
Location
Time Period
Advisors
Original Date
Digitization Date
Issue Date
2024
Type
Conference paper
Genre
Keywords
Location awareness,Uncertainty,Service robots,Navigation,Inspection,Manipulators,Safety
Subjects (LCSH)
Citation
J. Lee, J. Kim, W. Ubellacker, T. G. Molnar and A. D. Ames, "Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 3485-3491, doi: 10.1109/ICRA57147.2024.10610504
Abstract
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study, we consider the problem of operating a quadrupedal robot in distillation columns, locomoting on column trays and transitioning between these trays with a roller arm. To address this problem, our framework encompasses the following key elements: 1) Trajectory generation for seamless transitions between columns, 2) Foothold re-planning in regions deemed unsafe, 3) Safety-critical control incorporating control barrier functions, 4) Gait transitions based on safety levels, and 5) A low-level controller. Our comprehensive framework, comprising these components, enables autonomous and safe locomotion across multiple layers. We incorporate reduced-order and full-body models to ensure safety, integrating safety-critical control and footstep re-planning approaches. We validate the effectiveness of our proposed framework through practical experiments involving a quadruped robot equipped with a roller arm, successfully navigating and transitioning between different levels within the column tray structure.
Table of Contents
Description
Date of Conference: 13-17 May 2024
Date Added to IEEE Xplore: 08 August 2024
Conference Location: Yokohama, Japan
Conference Location: Yokohama, Japan
Publisher
IEEE
Journal
2024 IEEE International Conference on Robotics and Automation (ICRA)