Safe human dual-robot interaction based on control barrier functions and cooperation functions
Nowadays, humans are allowed to work side-by-side with a robot team, which consists of dual robots in most cases. To ensure human safety, the motion of each robot should be reactive to and compliant with humans via human-in-the-loop control. Furthermore, when the robots conduct a cooperative task, t...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/181055 |
| _version_ | 1824456599541907456 |
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| author | Shi, Kaige Chang, Jindong Feng, Shuo Fan, Yali Wei, Zilai Hu, Guoqiang |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Shi, Kaige Chang, Jindong Feng, Shuo Fan, Yali Wei, Zilai Hu, Guoqiang |
| author_sort | Shi, Kaige |
| collection | NTU |
| description | Nowadays, humans are allowed to work side-by-side with a robot team, which consists of dual robots in most cases. To ensure human safety, the motion of each robot should be reactive to and compliant with humans via human-in-the-loop control. Furthermore, when the robots conduct a cooperative task, the reactive and compliant motion of each robot must fulfill the constraints imposed by the cooperation with the other robot. It is challenging to guarantee human safety and robot cooperation simultaneously, especially in a decentralized architecture. This letter presents a decentralized control framework that guarantees both human safety and robot cooperation in human dual-robot interaction. First, the high-order time-varying control barrier functions (HO-TV-CBFs) are defined to represent human safety, based on which a safety control set is formulated to guarantee human safety. Second, the cooperation functions are introduced to abstract the cooperation constraints of different cooperative tasks of dual robots, which are further guaranteed by a cooperation control set. Then, a centralized control framework based on the safety and cooperation control sets is constructed. Finally, the centralized control framework is decentralized while maintaining the same performance. The proposed control framework is verified via experiments. |
| first_indexed | 2025-02-19T03:56:40Z |
| format | Journal Article |
| id | ntu-10356/181055 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:56:40Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1810552024-11-12T07:20:43Z Safe human dual-robot interaction based on control barrier functions and cooperation functions Shi, Kaige Chang, Jindong Feng, Shuo Fan, Yali Wei, Zilai Hu, Guoqiang School of Electrical and Electronic Engineering Centre for Advanced Robotics Technology Innovation Engineering Control barrier function Cooperation function Nowadays, humans are allowed to work side-by-side with a robot team, which consists of dual robots in most cases. To ensure human safety, the motion of each robot should be reactive to and compliant with humans via human-in-the-loop control. Furthermore, when the robots conduct a cooperative task, the reactive and compliant motion of each robot must fulfill the constraints imposed by the cooperation with the other robot. It is challenging to guarantee human safety and robot cooperation simultaneously, especially in a decentralized architecture. This letter presents a decentralized control framework that guarantees both human safety and robot cooperation in human dual-robot interaction. First, the high-order time-varying control barrier functions (HO-TV-CBFs) are defined to represent human safety, based on which a safety control set is formulated to guarantee human safety. Second, the cooperation functions are introduced to abstract the cooperation constraints of different cooperative tasks of dual robots, which are further guaranteed by a cooperation control set. Then, a centralized control framework based on the safety and cooperation control sets is constructed. Finally, the centralized control framework is decentralized while maintaining the same performance. The proposed control framework is verified via experiments. National Research Foundation (NRF) This work was supported by National Research Foundation, Singapore, under the NRF Medium Sized Centre scheme (CARTIN). 2024-11-12T07:20:43Z 2024-11-12T07:20:43Z 2024 Journal Article Shi, K., Chang, J., Feng, S., Fan, Y., Wei, Z. & Hu, G. (2024). Safe human dual-robot interaction based on control barrier functions and cooperation functions. IEEE Robotics and Automation Letters, 9(11), 9581-9588. https://dx.doi.org/10.1109/LRA.2024.3458597 2377-3766 https://hdl.handle.net/10356/181055 10.1109/LRA.2024.3458597 2-s2.0-85204016375 11 9 9581 9588 en IEEE Robotics and Automation Letters © 2024 IEEE. All rights reserved. |
| spellingShingle | Engineering Control barrier function Cooperation function Shi, Kaige Chang, Jindong Feng, Shuo Fan, Yali Wei, Zilai Hu, Guoqiang Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title | Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title_full | Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title_fullStr | Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title_full_unstemmed | Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title_short | Safe human dual-robot interaction based on control barrier functions and cooperation functions |
| title_sort | safe human dual robot interaction based on control barrier functions and cooperation functions |
| topic | Engineering Control barrier function Cooperation function |
| url | https://hdl.handle.net/10356/181055 |
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