On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Bowen Weng,Guillermo A. Castillo,Wei Zhang,Ayonga Hereid,Bowen Weng,Guillermo A. Castillo,Wei Zhang,Ayonga Hereid
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and inferred risk can be incomplete and sampling inefficient. Some formal verification methods suffer from the model precision and other surrogate assumptions. In th...
