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

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Abstract

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
Volume5
DOIs
Publication statusPublished - 8 Oct 2018

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Robotics
Distributed parameter control systems
Controllers
Experiments

Cite this

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title = "A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures",
abstract = "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.",
author = "Groothuis, {Stefan S.} and Folkertsma, {Gerrit A.} and Stefano Stramigioli",
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