A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures.

Front Robot AI

Robotics and Mechatronics Group, Technical Medical Centre, University of Twente, Enschede, Netherlands.

Published: October 2018

This paper proposes a unified energy-based modeling and energy-aware control paradigm for robotic systems. The paradigm is inspired by the layered and distributed control system of organisms, and uses the fundamental notion of energy in a system and the energy exchange between systems during interaction. A universal framework that models actuated and interacting robotic systems is proposed, which is used as the basis for energy-based and energy-limited control. The proposed controllers act on certain energy budgets to accomplish a desired task, and decrease performance if a budget has been depleted. These budgets ensure that a maximum amount of energy can be used, to ensure passivity and stability of the system. Experiments show the validity of the approach.

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Source
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806010PMC
http://dx.doi.org/10.3389/frobt.2018.00108DOI Listing

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