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This paper presents a safety-critical control framework tailored forquadruped robots equipped with a roller arm, particularly when performinglocomotive tasks such as autonomous robotic inspection in complex, multi-tieredenvironments. In this study, we consider the problem of operating a quadrupedalrobot in distillation columns, locomoting on column trays and transitioningbetween these trays with a roller arm. To address this problem, our frameworkencompasses the following key elements: 1) Trajectory generation for seamlesstransitions between columns, 2) Foothold re-planning in regions deemed unsafe,3) Safety-critical control incorporating control barrier functions, 4) Gaittransitions based on safety levels, and 5) A low-level controller. Ourcomprehensive framework, comprising these components, enables autonomous andsafe locomotion across multiple layers. We incorporate reduced-order andfull-body models to ensure safety, integrating safety-critical control andfootstep re-planning approaches. We validate the effectiveness of our proposedframework through practical experiments involving a quadruped robot equippedwith a roller arm, successfully navigating and transitioning between differentlevels within the column tray structure.

Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments