Energy-based Safety in Series Elastic Actuation

Wesley Roozing; Stefan S. Groothuis; Stefano Stramigioli

doi:10.1109/icra40945.2020.9197448

Energy-based Safety in Series Elastic Actuation

Wesley Roozing, Stefan S. Groothuis, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

15 Downloads (Pure)

Abstract

This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows in series-elastic actuation is presented and an appropriate controller is developed. Experimental results validate the effectiveness of the energy-based safety in elastic actuation.

Original language	English
Title of host publication	2020 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	914-920
Number of pages	7
ISBN (Electronic)	978-1-7281-7395-5, 978-1-7281-7394-8 (USB)
ISBN (Print)	978-1-7281-7396-2
DOIs	https://doi.org/10.1109/icra40945.2020.9197448
Publication status	Published - 15 Sep 2020
Event	International Conference on Robotics and Automation, ICRA 2020 - Virtual Conference, Paris, France Duration: 31 May 2020 → 31 Aug 2020 https://www.icra2020.org/

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2020
ISSN (Print)	1050-4729
ISSN (Electronic)	2577-087X

Conference

Conference	International Conference on Robotics and Automation, ICRA 2020
Abbreviated title	ICRA 2020
Country/Territory	France
City	Paris
Period	31/05/20 → 31/08/20
Internet address	https://www.icra2020.org/

Keywords

22/2 OA procedure

Access to Document

10.1109/icra40945.2020.9197448

Roozing-2020-Energy-basedFinal published version, 2.04 MBLicence: Taverne

Cite this

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title = "Energy-based Safety in Series Elastic Actuation",

abstract = "This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows in series-elastic actuation is presented and an appropriate controller is developed. Experimental results validate the effectiveness of the energy-based safety in elastic actuation.",

keywords = "22/2 OA procedure",

author = "Wesley Roozing and Groothuis, {Stefan S.} and Stefano Stramigioli",

note = "Funding Information: This project has received funding from the European Union{\textquoteright}s Horizon 2020 research and innovation programme under grant agreement No. 688857 (SoftPro). The content of this publication is the sole responsibility of the authors. The European Commission or its services cannot be held responsible for any use that may be made of the information it contains. Publisher Copyright: {\textcopyright} 2020 IEEE.; International Conference on Robotics and Automation, ICRA 2020, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020",

year = "2020",

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doi = "10.1109/icra40945.2020.9197448",

language = "English",

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series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",

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Roozing, W, Groothuis, SS & Stramigioli, S 2020, Energy-based Safety in Series Elastic Actuation. in 2020 IEEE International Conference on Robotics and Automation (ICRA)., 9197448, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2020, IEEE, Piscataway, NJ, pp. 914-920, International Conference on Robotics and Automation, ICRA 2020, Paris, France, 31/05/20. https://doi.org/10.1109/icra40945.2020.9197448

Energy-based Safety in Series Elastic Actuation. / Roozing, Wesley; Groothuis, Stefan S.; Stramigioli, Stefano.

2020 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ : IEEE, 2020. p. 914-920 9197448 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Groothuis, Stefan S.

AU - Stramigioli, Stefano

N1 - Funding Information: This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 688857 (SoftPro). The content of this publication is the sole responsibility of the authors. The European Commission or its services cannot be held responsible for any use that may be made of the information it contains. Publisher Copyright: © 2020 IEEE.

PY - 2020/9/15

Y1 - 2020/9/15

N2 - This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows in series-elastic actuation is presented and an appropriate controller is developed. Experimental results validate the effectiveness of the energy-based safety in elastic actuation.

AB - This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows in series-elastic actuation is presented and an appropriate controller is developed. Experimental results validate the effectiveness of the energy-based safety in elastic actuation.

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M3 - Conference contribution

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T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)

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BT - 2020 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

CY - Piscataway, NJ

T2 - International Conference on Robotics and Automation, ICRA 2020

Y2 - 31 May 2020 through 31 August 2020

ER -

Energy-based Safety in Series Elastic Actuation

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