On the Use of Energy Tanks for Robotic Systems

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3 Citations (Scopus)


In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) introducing to the reader the topic in a simple yet precise way, starting with a throughout description of the energy-aware framework, where energy tanks find their genesis; ii) summarising the range of applications of energy tanks, including an original reflection about different formulations of those; iii) discussing limits and future challenges involving energy tanks and energy-aware control in general.

Original languageEnglish
Title of host publicationHuman-Friendly Robotics 2022 - HFR
Subtitle of host publication15th International Workshop on Human-Friendly Robotics
EditorsPablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta
Place of PublicationCham
PublisherSpringer Nature
Number of pages15
ISBN (Electronic)978-3-031-22731-8
ISBN (Print)978-3-031-22730-1
Publication statusPublished - 2 Jan 2023
Event15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands
Duration: 22 Sept 202223 Sept 2022
Conference number: 15

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


Workshop15th International Workshop on Human-Friendly Robotics, HFR 2022
Abbreviated titleHFR 2022


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