Formal Verification of Robotic Contact Tasks via Reachability Analysis
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead, we propose to formally and Efficiently verify robot behavior...
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| Published in | IFAC-PapersOnLine Vol. 56; no. 2; pp. 7912 - 7919 |
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| Format | Journal Article |
| Language | English |
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01.01.2023
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| Abstract | Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead, we propose to formally and Efficiently verify robot behaviors in contact tasks using reachability analysis, which enables checking all the reachable states against user-provided specifications. To this end, we extend the state of the art in reachability analysis for hybrid (mixed discrete and continuous) dynamics subject to discrete-time input trajectories. In particular, we present a novel and scalable guard intersection approach to reliably compute the complex behavior caused by contacts. We model robots subject to contacts as hybrid automata in which crucial time delays are included. The usefulness of our approach is demonstrated by verifying safe human-robot interaction in the presence of constrained collisions, which was out of reach for existing methods. |
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| AbstractList | Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead, we propose to formally and Efficiently verify robot behaviors in contact tasks using reachability analysis, which enables checking all the reachable states against user-provided specifications. To this end, we extend the state of the art in reachability analysis for hybrid (mixed discrete and continuous) dynamics subject to discrete-time input trajectories. In particular, we present a novel and scalable guard intersection approach to reliably compute the complex behavior caused by contacts. We model robots subject to contacts as hybrid automata in which crucial time delays are included. The usefulness of our approach is demonstrated by verifying safe human-robot interaction in the presence of constrained collisions, which was out of reach for existing methods. |
| Author | Tang, Chencheng Althoff, Matthias |
| Author_xml | – sequence: 1 givenname: Chencheng surname: Tang fullname: Tang, Chencheng email: chencheng.tang@tum.de – sequence: 2 givenname: Matthias surname: Althoff fullname: Althoff, Matthias email: althoff@tum.de |
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| Cites_doi | 10.1016/j.automatica.2016.02.036 10.1177/027836499501400103 10.1007/s10514-017-9677-2 10.1016/S0094-114X(02)00045-9 10.1016/S0094-114X(97)00091-8 10.1109/MRA.2011.942112 10.1137/S00361445024180 10.1007/3-540-60472-3_14 10.1016/S0947-3580(99)70163-9 10.1007/BF02684450 10.1108/01439910710774386 10.1142/9789812834768_0001 10.1146/annurev-control-071420-081941 |
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| Issue | 2 |
| Keywords | robotic contact tasks hybrid systems formal verification guard intersection Reachability analysis safety |
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| Title | Formal Verification of Robotic Contact Tasks via Reachability Analysis |
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