A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures

Stefan S. Groothuis (Corresponding Author), Gerrit A. Folkertsma, Stefano Stramigioli

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    This paper proposes a unified energy-based modeling and energy-aware control paradigm for robotic systems. The paradigm is inspired by the layered and distributed control system of organisms, and uses the fundamental notion of energy in a system and the energy exchange between systems during interaction. A universal framework that models actuated and interacting robotic systems is proposed, which is used as the basis for energy-based and energy-limited control. The proposed controllers act on certain energy budgets to accomplish a desired task, and decrease performance if a budget has been depleted. These budgets ensure that a maximum amount of energy can be used, to ensure passivity and stability of the system. Experiments show the validity of the approach.
    Original languageEnglish
    Article number108
    JournalFrontiers in robotics and AI
    Publication statusPublished - 8 Oct 2018

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