Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917876042039296 |
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| author | Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain |
| author_facet | Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain |
| contents | Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Functions (CBFs), widely utilized in safety-critical control, have shown significant potential for motion generation. However, for high-dimensional robot manipulators, existing QP formulations and CBF-based methods rely on positional information, overlooking higher-order derivatives such as velocities. This limitation may lead to reduced success rates, decreased performance, and inadequate safety constraints. To address this, we construct time-varying CBFs (TVCBFs) that consider velocity conditions for obstacles. Our approach leverages recent developments on distance fields for articulated manipulators, a differentiable representation that enables the mapping of objects' position and velocity into the robot's joint space, offering a comprehensive understanding of the system's interactions. This allows the manipulator to be treated as a point-mass system thus simplifying motion generation tasks. Additionally, we introduce a time-varying control Lyapunov function (TVCLF) to enable whole-body contact motions. Our approach integrates the TVCBF, TVCLF, and manipulator physical constraints within a unified QP framework. We validate our method through simulations and comparisons with state-of-the-art approaches, demonstrating its effectiveness on a 7-axis Franka robot in real-world experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_16456 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain Robotics Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Functions (CBFs), widely utilized in safety-critical control, have shown significant potential for motion generation. However, for high-dimensional robot manipulators, existing QP formulations and CBF-based methods rely on positional information, overlooking higher-order derivatives such as velocities. This limitation may lead to reduced success rates, decreased performance, and inadequate safety constraints. To address this, we construct time-varying CBFs (TVCBFs) that consider velocity conditions for obstacles. Our approach leverages recent developments on distance fields for articulated manipulators, a differentiable representation that enables the mapping of objects' position and velocity into the robot's joint space, offering a comprehensive understanding of the system's interactions. This allows the manipulator to be treated as a point-mass system thus simplifying motion generation tasks. Additionally, we introduce a time-varying control Lyapunov function (TVCLF) to enable whole-body contact motions. Our approach integrates the TVCBF, TVCLF, and manipulator physical constraints within a unified QP framework. We validate our method through simulations and comparisons with state-of-the-art approaches, demonstrating its effectiveness on a 7-axis Franka robot in real-world experiments. |
| title | Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.16456 |