外观
论文arXiv 2605.211381 个月前
平滑隐式接触动力学的安全关键控制
原文链接：Safety-Critical Control for Smoothed Implicit Contact Dynamics（arXiv 2605.21138 · 发布日期：2026-09-23）
Safety-Critical Control for Smoothed Implicit Contact Dynamics
针对平滑隐式接触动力学中安全滤波设计困难，提出基于离散时间CBF、κ筛选与鲁棒收紧的框架，并在四个富接触系统仿真验证。
核心要点
- 平滑隐式接触动力学支持无预设模式序列的梯度规划控制，但安全滤波设计仍不直接。
- 方法用隐式接触力的一阶Taylor近似，推导离散时间控制障碍函数约束。
- 发现减小κ虽可提升局部力近似精度，闭环力约束违反却可能随κ非单调变化。
- 边界聚焦rollouts筛选κ并用固定裕度收紧约束，仿真中消除标准CBF下的力违反。
验证范围与局限：仅在四个富接触系统的仿真中验证。
英文摘要 (Abstract)
Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains challenging because implicit contact dynamics makes safety-filter design nontrivial. The smoothing parameter $κ$ relaxes contact complementarity constraints, which makes the dynamics smooth but affects the contact force. This paper provides a safety-filtering framework for smoothed implicit contact dynamics. We first derive a discrete-time control barrier function (CBF) constraint using a first-order Taylor approximation of the implicitly defined contact force. We show that, although reducing $κ$ can improve local force-approximation accuracy, the resulting closed-loop force-constraint violations can vary non-monotonically with $κ$. Motivated by this observation, we introduce boundary-focused rollouts that screen candidate $κ$ values by comparing the predicted safety margin with the observed one-step under-prediction. We then robustly tighten the predicted CBF constraint with a fixed margin to account for residual force under-prediction. Simulations on four contact-rich systems show that the proposed method eliminates force violations observed under a standard CBF. Project website https://contact-cbf.github.io/
作者：H.Y. Lee, Yitaek Kim, Christoffer Sloth
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