SPARK: Safe Protective and Assistive Robot Kit
Yifan Sun, Rui Chen, Kai S. Yun, Yikuan Fang, Sebin Jung, Feihan Li, Bowei Li, Weiye Zhao, and Changliu Liu

TL;DR
SPARK is a comprehensive, modular benchmark and toolkit designed to enhance safety in humanoid robots through safe control algorithms, simulation benchmarks, and real-world deployment options, facilitating safer humanoid robot operation and research.
Contribution
The paper introduces SPARK, a novel modular framework and benchmark suite that enables safe control, simulation comparison, and real-world deployment for humanoid robots.
Findings
SPARK effectively improves safety in humanoid robot control.
Simulation benchmarks facilitate comparison of safety approaches.
Real-world deployment demonstrates practical safety enhancements.
Abstract
This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robots pose significant safety risks due to their physical capabilities of interacting with complex environments. The physical structures of humanoid robots further add complexity to the design of general safety solutions. To facilitate safe deployment of complex robot systems, SPARK can be used as a toolbox that comes with state-of-the-art safe control algorithms in a modular and composable robot control framework. Users can easily configure safety criteria and sensitivity levels to optimize the balance between safety and performance. To accelerate humanoid safety research and development, SPARK provides simulation benchmarks that compare safety approaches in a variety of environments, tasks, and robot models.…
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Taxonomy
TopicsRobotic Locomotion and Control · Software Testing and Debugging Techniques · Autonomous Vehicle Technology and Safety
