Learning passive policies with virtual energy tanks in robotics
Riccardo Zanella,
Gianluca Palli,
Stefano Stramigioli
et al.
Abstract:Within a robotic context, the techniques of passivity‐based control and reinforcement learning are merged with the goal of eliminating some of their reciprocal weaknesses, as well as inducing novel promising features in the resulting framework. The contribution is framed in a scenario where passivity‐based control is implemented by means of virtual energy tanks, a control technique developed to achieve closed‐loop passivity for any arbitrary control input. Albeit the latter result is heavily used, it is discus… Show more
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