Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

Hamed, Kaveh Akbari; Kamidi, Vinay R.; Ma, Wen-Loong; Leonessa, Alexander; Ames, Aaron D.

doi:10.1109/lra.2019.2939719

Cited by 19 publications

(9 citation statements)

References 39 publications

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“…The current paper addresses this complexity with the proper modification of local virtual constraints and the QP formulation. The current work is different from [35] which addresses cooperative locomotion of guide robots and humans. In particular, [35] considers a leash structure with a "variable" and "controlled" length and angle that stabilize the cooperative locomotion of quadrupedal robots and humans.…”

Section: B Objectives and Contributionsmentioning

confidence: 99%

“…The current work is different from [35] which addresses cooperative locomotion of guide robots and humans. In particular, [35] considers a leash structure with a "variable" and "controlled" length and angle that stabilize the cooperative locomotion of quadrupedal robots and humans. In the current study, the object is "passive" with a "fixed length".…”

Section: B Objectives and Contributionsmentioning

confidence: 99%

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Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Hamed

Kamidi

Pandala

et al. 2020

2020 American Control Conference (ACC)

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This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation of objects during locomotion. In addressing this problem, the complex hybrid dynamical models that describe collaborative legged locomotion are studied. The complex periodic orbits (i.e., gaits) of these sophisticated and high-dimensional hybrid systems are investigated. We consider a set of virtual constraints that stabilizes locomotion of a single agent. The paper then generates modified and local virtual constraints for each agent that allow stable collaborative locomotion. Optimal distributed feedback controllers, based on nonlinear control and quadratic programming, are developed to impose the local virtual constraints. To demonstrate the power of the analytical foundation, an extensive numerical simulation for cooperative locomotion of two quadrupedal robots with robotic manipulators is presented. The numerical complex hybrid model has 64 continuous-time domains, 192 discretetime transitions, 96 state variables, and 36 control inputs.

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Section: B Objectives and Contributionsmentioning

confidence: 99%

Section: B Objectives and Contributionsmentioning

confidence: 99%

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Hamed

Kamidi

Pandala

et al. 2020

2020 American Control Conference (ACC)

Self Cite

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“…The freedom of the robot end will decrease in a singular configuration, so it cannot be controlled to move in directions. While the robot approaches the singular adjacent region, some joints calculated by the inverse kinematic tend to infinity, which will cause the decline of tracking expected trajectory [ 8 ]. The singularity is the inherent characteristic of an articulated robot, which mainly appears in finding the inverse kinematics solution.…”

Section: Introductionmentioning

confidence: 99%

Singular Configuration Analysis and Singularity Avoidance with Application in an Intelligent Robotic Manipulator

Wang

Zhou

Zhong

et al. 2022

Sensors

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Recently, robotic sensor systems have gained more attention annually in complex system sense strategies. The robotic sensors sense the information from itself and the environment, and fuse information for the use of perception, decision, planning, and control. As an important supplement to traditional industrial robots, co-bots (short for co-working robots) play an increasingly vital role in helping small and medium-sized enterprises realize intelligent manufacturing. They have high flexibility and safety so that they can assist humans to complete highly repetitive and high-precision work. In order to maintain robot safe operation in the increasing complex working environment and human–computer intelligent interactive control, this paper is concerned with the problem of applicant accuracy analysis and singularity avoidance for co-bots. Based on the dynamic model with load and torque sensors, which is used to detect the external force at the end of the robot, this paper systematically analyzes the causes of singularity phenomenon in the robot motion control. The inverse solution is obtained by analytical method and numerical method, respectively. In order to ensure the smooth and safe operation in the whole workspace, it is necessary for a robot to avoid singularity. Singularity avoidance schemes are utilized for different control tasks, including point-to-point control and continuous path control. Corresponding simulation experiments are designed to verify the effectiveness of different evasion schemes, in which the advantages and disadvantages are compared and analyzed.

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“…Quadruped robots also have extremely high reproducibility when their athletic ability is no less than that of real dogs, enabling more visually impaired to use guide dogs. In previous studies, whether the human and the robot were connected by a rigid arm [3]- [6] or a leash [7], they considered the robot to be the majority and the human to be an appendage at the rear of the robot. With this guiding method, human comfort is not taken into account, resulting Fig.…”

Section: Introductionmentioning

confidence: 99%

Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach

Chen¹,

Xu²,

Jian³

et al. 2022

Preprint

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A quadrupedal guidance robot that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guiding systems treat the robot as the majority without fully considering the human response behavior and comfort, and the human is more like an appendage being dragged by the robot. This may lead to less accurate guiding of the human and the force experienced by the human may also undergo large changes. In this paper, we propose a novel guidance robot system with a comfort-based concept. We design a leash containing an elastic rope and a thin string, and use a motor to adjust the length of the string to ensure comfort. We use the force-based human motion model to plan the forces experienced by the human. Afterward, the direction and magnitude of the force are controlled by the motion of the robot, and the rotation of the motor, respectively. This allows humans to be guided safely and more comfortably to the target position in complex environments. The system has been deployed on Unitree Laikago quadrupedal platform and validated in realworld scenarios. (Video 1 ) † indicates equal contribution.

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Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

Cited by 19 publications

References 39 publications

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Singular Configuration Analysis and Singularity Avoidance with Application in an Intelligent Robotic Manipulator

Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach

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