Safety-Critical Kinematic Control of Robotic Systems

@article{Singletary2020SafetyCriticalKC,
  title={Safety-Critical Kinematic Control of Robotic Systems},
  author={A. Singletary and Shishir Kolathaya and A. Ames},
  journal={IEEE Control Systems Letters},
  year={2020},
  volume={6},
  pages={139-144}
}
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending the methodology of control barrier functions (CBFs) to kinematic equations governing robotic systems. We demonstrate a purely kinematic implementation of a velocity-based CBF, and subsequently introduce a formulation that guarantees safety at the level of dynamics. This is… Expand
1 Citations

Figures from this paper

Model-Free Safety-Critical Control for Robotic Systems
This paper presents a framework for the safetycritical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocityExpand

References

SHOWING 1-10 OF 24 REFERENCES
Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping
TLDR
Novel, robust control barrier functions that ensure constraint satisfaction for sampled-data systems in the presence of model uncertainty and allows for satisfaction of actuator constraints are developed and applied to the challenging problem of robotic grasping. Expand
Constrained robot control using control barrier functions
TLDR
This paper introduces a control structure, which merges an arbitrary desired robot behavior with given constraints using a quadratic program (QP) and shows that the concept is applicable with arbitrary numbers of constraints and any nominal control law. Expand
Energy based Control Barrier Functions for Robotic Systems
Control barrier function (CBF) based Quadratic Programs (QPs) were introduced in early 2014 as a means to guarantee safety in affine control systems in conjunction with stability/tracking. However,Expand
Local Stability of PD Controlled Bipedal Walking Robots
TLDR
Extension of the stability results of PD control laws for underactuated robotic systems, and Exponential ultimate boundedness of hybrid periodic orbits under the assumption of exponential stability of their projections to the hybrid zero dynamics are established. Expand
Kinematic control of redundant robot manipulators: A tutorial
  • B. Siciliano
  • Mathematics, Computer Science
  • J. Intell. Robotic Syst.
  • 1990
TLDR
A tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators lends some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian. Expand
Safety Barrier Certificates for Collisions-Free Multirobot Systems
This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safetyExpand
Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task
TLDR
A new prioritized task-regulation framework based on a sequence of quadratic programs (QP) that removes the limitation of inequality constraints and is implemented and illustrated in simulation on the humanoid robot HRP-2. Expand
Robust control barrier functions for constrained stabilization of nonlinear systems
TLDR
The concept of Robust-CBF that, when combined with existing ISS-CLFs, produces controllers for constrained nonlinear systems with disturbances is introduced, considered an extension of the CLF-based point-wise minimum norm controller. Expand
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
TLDR
This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers. Expand
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
  • O. Khatib
  • Engineering, Computer Science
  • Autonomous Robot Vehicles
  • 1990
TLDR
This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. Expand
...
1
2
3
...