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

TL;DR

This paper introduces a novel zonotope-based framework combining prediction and motion planning for socially acceptable bipedal robot navigation in crowded environments, utilizing a neural network to predict pedestrian reachable sets and plan robot paths.

Contribution

The paper presents the Social Zonotope Network (SZN), integrating reachability prediction with MPC for dynamic, socially compliant bipedal navigation, a novel approach in legged robot navigation.

Findings

Effective in producing socially acceptable paths

Ensures locomotion velocity consistency

Validated through extensive simulations and hardware tests

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.