On the Use of Energy Tanks for Robotic Systems

Federico Califano; Ramy Rashad; Cristian Secchi; Stefano Stramigioli

doi:10.1007/978-3-031-22731-8_13

On the Use of Energy Tanks for Robotic Systems

Federico Califano^*
, Ramy Rashad
, Cristian Secchi
, Stefano Stramigioli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

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
Title of host publication	Human-Friendly Robotics 2022 - HFR
Subtitle of host publication	15th International Workshop on Human-Friendly Robotics
Editors	Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta
Publisher	Springer Nature
Pages	174-188
Number of pages	15
ISBN (Print)	9783031227301
DOIs	https://doi.org/10.1007/978-3-031-22731-8_13
State	Published - 2023
Externally published	Yes
Event	15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands Duration: 22 Sep 2022 → 23 Sep 2022

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	26
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	15th International Workshop on Human-Friendly Robotics, HFR 2022
Country/Territory	Netherlands
City	Delft
Period	22/09/22 → 23/09/22

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

ASJC Scopus subject areas

Control and Systems Engineering
Engineering (miscellaneous)
Mechanical Engineering
Computer Science Applications
Electrical and Electronic Engineering
Artificial Intelligence
Applied Mathematics

Access to Document

10.1007/978-3-031-22731-8_13

Cite this

Califano, F., Rashad, R., Secchi, C., & Stramigioli, S. (2023). On the Use of Energy Tanks for Robotic Systems. In P. Borja, C. Della Santina, L. Peternel, & E. Torta (Eds.), Human-Friendly Robotics 2022 - HFR: 15th International Workshop on Human-Friendly Robotics (pp. 174-188). (Springer Proceedings in Advanced Robotics; Vol. 26). Springer Nature. https://doi.org/10.1007/978-3-031-22731-8_13

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title = "On the Use of Energy Tanks for Robotic Systems",

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.",

author = "Federico Califano and Ramy Rashad and Cristian Secchi and Stefano Stramigioli",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Workshop on Human-Friendly Robotics, HFR 2022 ; Conference date: 22-09-2022 Through 23-09-2022",

year = "2023",

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language = "English",

isbn = "9783031227301",

series = "Springer Proceedings in Advanced Robotics",

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Califano, F, Rashad, R, Secchi, C & Stramigioli, S 2023, On the Use of Energy Tanks for Robotic Systems. in P Borja, C Della Santina, L Peternel & E Torta (eds), Human-Friendly Robotics 2022 - HFR: 15th International Workshop on Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, vol. 26, Springer Nature, pp. 174-188, 15th International Workshop on Human-Friendly Robotics, HFR 2022, Delft, Netherlands, 22/09/22. https://doi.org/10.1007/978-3-031-22731-8_13

On the Use of Energy Tanks for Robotic Systems. / Califano, Federico; Rashad, Ramy; Secchi, Cristian et al.
Human-Friendly Robotics 2022 - HFR: 15th International Workshop on Human-Friendly Robotics. ed. / Pablo Borja; Cosimo Della Santina; Luka Peternel; Elena Torta. Springer Nature, 2023. p. 174-188 (Springer Proceedings in Advanced Robotics; Vol. 26).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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On the Use of Energy Tanks for Robotic Systems

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

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Cite this