Sun, Yifan (Carnegie Mellon University), Chen, Rui (Carnegie Mellon University; University of Michigan;), Yun, SirkHoo, Kai (Carnegie Mellon University), Fang, Yikuan (Carnegie Mellon University), Jung, Sebin (Carnegie Mellon University), Li, Feihan (Carnegie Mellon University), Li, Bowei (Carnegie Mellon University), Zhao, Weiye (Carnegie Mellon University), Liu, Changliu (Carnegie Mellon University)

SPARK: Safe Protective and Assistive Robot Kit

Scheduled for presentation during the Regular Session "Bio-inspired & Humanoid Robotics" (FrBT5), Friday, July 18, 2025, 14:40−15:00, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This paper presents the Safe Protective and Assistive Robot Kit (SPARK), a benchmark and toolbox for enhancing safety in humanoid autonomy and teleoperation. Humanoid robots, due to their complex physical structures and interaction with dynamic environments, demand robust safety solutions. SPARK provides a modular safe control framework with representative algorithms, allowing users to configure safety criteria and trade-offs between safety and performance. It includes simulation benchmarks across diverse tasks and supports rapid deployment on real hardware, including the Unitree G1 humanoid robot. SPARK also integrates with external sensors like Apple Vision Pro and Motion Capture Systems. Open-source code is available at https://github.com/intelligent-control-lab/spark.