SPARK: Safe Protective and Assistive Robot Kit
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866912823593926656 |
|---|---|
| author | Sun, Yifan Chen, Rui Yun, Kai S. Fang, Yikuan Jung, Sebin Li, Feihan Li, Bowei Zhao, Weiye Liu, Changliu |
| author_facet | Sun, Yifan Chen, Rui Yun, Kai S. Fang, Yikuan Jung, Sebin Li, Feihan Li, Bowei Zhao, Weiye Liu, Changliu |
| contents | This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robots pose significant safety risks due to their physical capabilities of interacting with complex environments. The physical structures of humanoid robots further add complexity to the design of general safety solutions. To facilitate safe deployment of complex robot systems, SPARK can be used as a toolbox that comes with state-of-the-art safe control algorithms in a modular and composable robot control framework. Users can easily configure safety criteria and sensitivity levels to optimize the balance between safety and performance. To accelerate humanoid safety research and development, SPARK provides simulation benchmarks that compare safety approaches in a variety of environments, tasks, and robot models. Furthermore, SPARK allows quick deployment of synthesized safe controllers on real robots. For hardware deployment, SPARK supports Apple Vision Pro (AVP) or a Motion Capture System as external sensors, while offering interfaces for seamless integration with alternative hardware setups at the same time. This paper demonstrates SPARK's capability with both simulation experiments and case studies with a Unitree G1 humanoid robot. Leveraging these advantages of SPARK, users and researchers can significantly improve the safety of their humanoid systems as well as accelerate relevant research. The open source code is available at: https://github.com/intelligent-control-lab/spark. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_03132 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SPARK: Safe Protective and Assistive Robot Kit Sun, Yifan Chen, Rui Yun, Kai S. Fang, Yikuan Jung, Sebin Li, Feihan Li, Bowei Zhao, Weiye Liu, Changliu Robotics Systems and Control This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robots pose significant safety risks due to their physical capabilities of interacting with complex environments. The physical structures of humanoid robots further add complexity to the design of general safety solutions. To facilitate safe deployment of complex robot systems, SPARK can be used as a toolbox that comes with state-of-the-art safe control algorithms in a modular and composable robot control framework. Users can easily configure safety criteria and sensitivity levels to optimize the balance between safety and performance. To accelerate humanoid safety research and development, SPARK provides simulation benchmarks that compare safety approaches in a variety of environments, tasks, and robot models. Furthermore, SPARK allows quick deployment of synthesized safe controllers on real robots. For hardware deployment, SPARK supports Apple Vision Pro (AVP) or a Motion Capture System as external sensors, while offering interfaces for seamless integration with alternative hardware setups at the same time. This paper demonstrates SPARK's capability with both simulation experiments and case studies with a Unitree G1 humanoid robot. Leveraging these advantages of SPARK, users and researchers can significantly improve the safety of their humanoid systems as well as accelerate relevant research. The open source code is available at: https://github.com/intelligent-control-lab/spark. |
| title | SPARK: Safe Protective and Assistive Robot Kit |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2502.03132 |