公开(公告)号：US20230321831A1

公开(公告)日：2023-10-12

申请号：US18297525

申请日：2023-04-07

Applicant: California Institute of Technology

Inventor： Aaron D. Ames ,  Andrew W. Singletary ,  Tamas Molnar

IPC: B25J9/16 ,  B25J9/12

CPC classification number: B25J9/1674 ,  B25J9/1653 ,  B25J9/12 ,  B25J9/161 ,  B25J9/163

Abstract: Systems and methods for model-free safety control of robotic platforms in accordance with embodiments of the invention are illustrated. One embodiment includes a robot, including a set of one or more actuators, and at least one sensor. The robot further includes a controller including a set of one or more processors and a memory including a controller application, where the controller application configures the set of processors to control the robot by performing the steps of defining a safe set identifying positions where the robot is safe, determining a control barrier function (CBF) based on the safe set, computing a safe velocity based on the CBF and a current position of the robot such that the robot remains in the safe set, and instructing the robot to track to the safe velocity.