On the use of energy tanks for robotic systems

Federico Califano, Ramy Rashad, Cristian Secchi, Stefano Stramigioli

Research output: Working paperPreprintAcademic

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Abstract

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
PublisherArXiv.org
DOIs
Publication statusPublished - 30 Nov 2022

Keywords

  • eess.SY
  • cs.SY

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  • On the Use of Energy Tanks for Robotic Systems

    Califano, F., Rashad, R., Secchi, C. & Stramigioli, S., 2 Jan 2023, Human-Friendly Robotics 2022 - HFR: 15th International Workshop on Human-Friendly Robotics. Borja, P., Della Santina, C., Peternel, L. & Torta, E. (eds.). Cham: Springer, p. 174-188 15 p. (Springer Proceedings in Advanced Robotics; vol. 26).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    8 Citations (Scopus)

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