Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks

Shahriari, Erfan; Johannsmeier, Lars; Jensen, Elisabeth; Haddadin, Sami

doi:10.1109/lra.2019.2953662

Cited by 26 publications

(36 citation statements)

References 16 publications

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“…The force task is defined as a Proportional Integral with a feed-forward (PI+) and anti-windup, inspired by [12]:…”

Section: B Task Functionsmentioning

confidence: 99%

“…To avoid this concerning behavior one can increase the budget of the energy tank (set at its maximum value, 5J, at the beginning of the motion), or try to replace the quasi-static part by a dynamic one to see if the tank is emptied. We think that the better solution would be to design the energy tank and P low parameters in function of the reference trajectories [12].…”

Section: B 20cm Step Walk Simulationmentioning

confidence: 99%

“…Providing too much energy to the system may lead the controller to diverge from the equilibrium or to over-accumulate this energy. Likewise, an uncontrolled sharp release of the tank energy might lead to dangerous motions [12]. For manipulator robots with flexible joints, [13,14] present a passive framework using impedance control.…”

Section: Introductionmentioning

confidence: 99%

“…This under-actuated part relies on external contact forces to control its motion. Besides, the penalization of the tracking tasks used in [11,12] can compromise the balance of the robot. Thus, passivity-based control on humanoid robots is still an open-problem.…”

Section: Introductionmentioning

confidence: 99%

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Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Ramuzat

Boria

Stasse

2022

IEEE Robot. Autom. Lett.

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This work presents a passivity-based inverse dynamics (ID) controller using a global energy tank. The proposed control approach allows us to achieve a safe multi-contact scenario on a torque controlled humanoid robot. The controller is primarily a task space ID quadratic programming (QP) which efficiently computes the reference torque satisfying a non-hierarchical set of tasks. Our work extends this controller by adding a global energy tank modulating the task gains, with power regulation, to ensure the passivity of the system. This method combines the benefits of the ID controller, which computes an optimal reference without joint torque feedback, and of the passivity-based system, which is robust to model uncertainties and external disturbances. The robustness of our framework is demonstrated in Gazebo simulations, where the robot TALOS achieves a multi-contact scenario and a 20cm step walk, with objectives in the Cartesian and configuration spaces, in torque control. The implementation of this controller is open-source.

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“…The force task is defined as a Proportional Integral with a feed-forward (PI+) and anti-windup, inspired by [12]:…”

Section: B Task Functionsmentioning

confidence: 99%

Section: B 20cm Step Walk Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Ramuzat

Boria

Stasse

2022

IEEE Robot. Autom. Lett.

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“…Passivity is an energy-based measure of stability (Ortega et al, 2001). Probably the most prominent passivity concept is the ''energy tank'' and ''energy routing'' approach originally proposed by Duindam and Stramigioli (2004), which can be used for telemanipulation (Ferraguti et al, 2015(Ferraguti et al, , 2013Franken et al, 2011), to guarantee stability during contact (Schindlbeck and Haddadin, 2015;Shahriari et al, 2020Shahriari et al, , 2017 or to render nullspace projection approaches passive (Dietrich et al, 2016(Dietrich et al, , 2017Garofalo and Ott, 2018). Moreover, the energy tank concept has been proposed for safe pHRI (Raiola et al, 2018;Tadele et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Energy budgets for coordinate invariant robot control in physical human–robot interaction

Lachner

Allmendinger

Hobert

et al. 2021

The International Journal of Robotics Research

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In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.

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On the Use of Energy Tanks for Robotic Systems

Califano

Rashad

Secchi

2023

Springer Proceedings in Advanced Robotics

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Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks

Cited by 26 publications

References 16 publications

Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Energy budgets for coordinate invariant robot control in physical human–robot interaction

On the Use of Energy Tanks for Robotic Systems

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