Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators

    Research output: Contribution to conferencePaper

    4 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

    Fingerprint

    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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    title = "Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators",
    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.",
    author = "Folkertsma, {Gerrit A.} and Groothuis, {Stefan S.} and Stefano Stramigioli",
    year = "2018",
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    doi = "10.1109/ICRA.2018.8463174",
    language = "English",
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    note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018, ICRA ; Conference date: 21-05-2018 Through 25-05-2018",
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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 conferencePaper

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    AU - Stramigioli, Stefano

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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