부산대학교 도서관

This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free trajectories as they do not leverage the robot's full dynamics, thus compromising kinematic feasibility. In comparison, the proposed CBF - WBC controller can reason about the robot's underactuated dynamics in real-time to guarantee collision-free motions. The effectiveness of this approach is validated in simulation. First, a simple hand-reaching experiment shows that the CBF - WBC enables the robot's hand to deviate from an infeasible reference trajectory to avoid self-collisions. Second, the CBF - WBC is combined with a linear model predictive controller (LMPC) designed for dynamic locomotion, and the CBF - WBC is used to track the LMPC predictions. Walking experiments show that adding CBFs avoids leg self-collisions when the footstep location or swing trajectory provided by the high-level planner are infeasible for the real robot, and generates feasible arm motions that improve disturbance recovery.