On the use of energy tanks for robotic systems

Federico Califano; Ramy Rashad; Cristian Secchi; Stefano Stramigioli

doi:10.48550/arXiv.2211.17033

On the use of energy tanks for robotic systems

Federico Califano, Ramy Rashad, Cristian Secchi, Stefano Stramigioli

Research output: Working paper › Preprint › Academic

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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 language	English
Publisher	ArXiv.org
DOIs	https://doi.org/10.48550/arXiv.2211.17033
Publication status	Published - 30 Nov 2022

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eess.SY
cs.SY

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10.48550/arXiv.2211.17033

ArticleFinal published version, 1.1 MB

1 Conference contribution

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 Nature, p. 174-188 15 p. (Springer Proceedings in Advanced Robotics; vol. 26).
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Cite this

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On the use of energy tanks for robotic systems

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Research output

On the Use of Energy Tanks for Robotic Systems

Cite this