Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators

Research output: Contribution to conferencePaperAcademicpeer-review

3 Citations (Scopus)

Abstract

Safety is essential for robots in unknown environments, especially when there is physical Human-Robot Interaction (pHRI). Control over energy, or passivity, is an effective safety mechanism. However, when the control algorithm is implemented in a discrete-time computer, computation and communication delays readily lead to loss of passivity and to instability. In this paper, a way to make the actuators aware of the energy that they inject into the system is presented. Passivity and stability are then always guaranteed, even in situations of total communication loss. These Embedded Energy-Aware Actuators are a model-free passivity and safety layer that make complex robotic systems dependable, well-behaved and safe. The proposed method is validated in simulation and experiments.
Original languageEnglish
Pages2902-2908
DOIs
Publication statusPublished - May 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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Actuators
Human robot interaction
Communication
Robotics
Robots
Experiments

Cite this

Folkertsma, G. A., Groothuis, S. S., & Stramigioli, S. (2018). Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators. 2902-2908. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia. https://doi.org/10.1109/ICRA.2018.8463174
Folkertsma, Gerrit A. ; Groothuis, Stefan S. ; Stramigioli, Stefano. / Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.
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Folkertsma, GA, Groothuis, SS & Stramigioli, S 2018, 'Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators' Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18 - 25/05/18, pp. 2902-2908. https://doi.org/10.1109/ICRA.2018.8463174

Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators. / Folkertsma, Gerrit A.; Groothuis, Stefan S.; Stramigioli, Stefano.

2018. 2902-2908 Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.

Research output: Contribution to conferencePaperAcademicpeer-review

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AB - Safety is essential for robots in unknown environments, especially when there is physical Human-Robot Interaction (pHRI). Control over energy, or passivity, is an effective safety mechanism. However, when the control algorithm is implemented in a discrete-time computer, computation and communication delays readily lead to loss of passivity and to instability. In this paper, a way to make the actuators aware of the energy that they inject into the system is presented. Passivity and stability are then always guaranteed, even in situations of total communication loss. These Embedded Energy-Aware Actuators are a model-free passivity and safety layer that make complex robotic systems dependable, well-behaved and safe. The proposed method is validated in simulation and experiments.

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Folkertsma GA, Groothuis SS, Stramigioli S. Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators. 2018. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia. https://doi.org/10.1109/ICRA.2018.8463174