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Dexterous Safe Control for Humanoids in Cluttered Environments
Source: https://arxiv.org/abs/2502.02858 Fetched: 2026-02-13 Type: Research Paper
Paper Information
- arXiv ID: 2502.02858
- Authors: Rui Chen, Yifan Sun, Changliu Liu
- Submission Date: February 5, 2025
- Field: Robotics (cs.RO)
- DOI: https://doi.org/10.48550/arXiv.2502.02858
Abstract
The research addresses "the problem of dexterous safety, featuring limb-level geometry constraints for avoiding both external and self-collisions in cluttered environments."
Key Contribution
The authors developed the Projected Safe Set Algorithm (p-SSA), which extends classical safe control methods to handle multiple simultaneous constraints.
Technical Approach
According to the abstract, p-SSA "relaxes conflicting constraints in a principled manner, minimizing safety violations to guarantee feasible robot control." The algorithm handles:
- External collision avoidance (obstacles in the environment)
- Self-collision prevention (limb-to-limb contacts)
- Multiple simultaneous geometric constraints at the limb level
Validation and Results on Unitree G1
The approach was verified through:
- Simulation testing
- Real-world experiments on a Unitree G1 humanoid robot performing complex collision avoidance tasks
The findings demonstrate that p-SSA enables the humanoid to "operate robustly in challenging situations with minimal safety violations" while generalizing across various tasks without requiring parameter adjustments.
Significance
This work advances safe control theory for humanoid robots operating in real-world cluttered environments, providing a principled approach to managing conflicting safety constraints during whole-body motion.