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Safety is critical in robotic tasks. Energy function based methods have beenintroduced to address the problem. To ensure safety in the presence of controllimits, we need to design an energy function that results in persistentlyfeasible safe control at all system states. However, designing such an energyfunction for high-dimensional nonlinear systems remains challenging.Considering the fact that there are redundant dynamics in high dimensionalsystems with respect to the safety specifications, this paper proposes a novelapproach called abstract safe control. We propose a system abstraction methodthat enables the design of energy functions on a low-dimensional model. Then wecan synthesize the energy function with respect to the low-dimensional model toensure persistent feasibility. The resulting safe controller can be directlytransferred to other systems with the same abstraction, e.g., when a robot armholds different tools. The proposed approach is demonstrated on a 7-DoF robotarm (14 states) both in simulation and real-world. Our method always findsfeasible control and achieves zero safety violations in 500 trials on 5different systems.

Zero-shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction