# Dexterous Safe Control for Humanoids in Cluttered Environments
**Source:** https://arxiv.org/abs/2502.02858
**Fetched:** 2026-02-13
**Type:** Research Paper

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## Paper Information

- **arXiv ID:** 2502.02858
- **Authors:** Rui Chen, Yifan Sun, Changliu Liu
- **Submission Date:** February 5, 2025
- **Field:** Robotics (cs.RO)
- **DOI:** https://doi.org/10.48550/arXiv.2502.02858

## Abstract

The research addresses "the problem of dexterous safety, featuring limb-level geometry constraints for avoiding both external and self-collisions in cluttered environments."

## Key Contribution

The authors developed the **Projected Safe Set Algorithm (p-SSA)**, which extends classical safe control methods to handle multiple simultaneous constraints.

## Technical Approach

According to the abstract, p-SSA "relaxes conflicting constraints in a principled manner, minimizing safety violations to guarantee feasible robot control." The algorithm handles:

- External collision avoidance (obstacles in the environment)
- Self-collision prevention (limb-to-limb contacts)
- Multiple simultaneous geometric constraints at the limb level

## Validation and Results on Unitree G1

The approach was verified through:
- Simulation testing
- Real-world experiments on a Unitree G1 humanoid robot performing complex collision avoidance tasks

The findings demonstrate that p-SSA enables the humanoid to "operate robustly in challenging situations with minimal safety violations" while generalizing across various tasks without requiring parameter adjustments.

## Significance

This work advances safe control theory for humanoid robots operating in real-world cluttered environments, providing a principled approach to managing conflicting safety constraints during whole-body motion.