Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control

Abdulaziz Shamsah1,2, Krishanu Agarwal3, Nigam Katta3, Abirath Raju4, Shreyas Kousik1, Ye Zhao1
1George W. Woodruff School of Mechanical Engineering, Georgia Tech, 2Mechanical Engineering Department, College of Engineering and Petroleum, Kuwait University, 3School of Electrical and Computer Engineering, Georgia Tech, 4Wallace H. Coulter Department of Biomedical Engineering, Georgia Tech,
Paper arXiv Video PPT Slides (PDF)

The Digit robot navigates an environment with a standing group and an approaching group of pedestrians.

Abstract

This study addresses the challenge of social bipedal navigation in a dynamic, human-crowded environment, a research area largely underexplored in legged robot navigation. We present a zonotope-based framework that couples prediction and motion planning for a bipedal ego-agent to account for bidirectional influence with the surrounding pedestrians. This framework incorporates a Social Zonotope Network (SZN), a neural network that predicts future pedestrian reachable sets and plans future socially acceptable reachable set for the ego-agent. SZN generates the reachable sets as zonotopes for efficient reachability-based planning, collision checking, and online uncertainty parameterization. Locomotion-specific losses are added to the SZN training process to adhere to the dynamic limits of the bipedal robot that are not explicitly present in the human crowds data set. These loss functions enable the SZN to generate locomotion paths that are more dynamically feasible for improved tracking. SZN is integrated with a Model Predictive Controller (SZN-MPC) for footstep planning for our bipedal robot Digit. SZN-MPC solves for collision-free trajectory by optimizing through SZN’s gradients. and Our results demonstrate the framework’s effectiveness in producing a socially acceptable path, with consistent locomotion velocity, and optimality. The SZN-MPC framework is validated with extensive simulations and hardware experiments.

Video

Hardware

Simulation

-->

BibTeX

@article{shamsah2024socially,
      title={Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control}, 
      author={Shamsah, Abdulaziz and Agarwal, Krishanu and Katta, Nigam and Raju, Abirath and Kousik, Shreyas and Zhao, Ye},
      journal={arXiv preprint arXiv:2406.17151},
      year={2024},
      primaryClass={cs.RO}
      url={https://arxiv.org/abs/2406.17151}, 
}