Energy-based Safety in Series Elastic Actuation

Wesley Roozing, Stefan S. Groothuis, Stefano Stramigioli

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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 languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
ISBN (Electronic)978-1-7281-7395-5
Publication statusPublished - 15 Sep 2020
EventInternational Conference on Robotics and Automation, ICRA 2020 - Virtual Conference, Paris, France
Duration: 31 May 202031 Aug 2020


ConferenceInternational Conference on Robotics and Automation, ICRA 2020
Abbreviated titleICRA 2020
Internet address


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