A Novel Safety-Aware Energy Tank Formulation Based on Control Barrier Functions
IEEE ROBOTICS AND AUTOMATION LETTERS(2024)
摘要
In this work, we propose a novel formulation for energy tanks based on Control Barrier Functions (CBF). Our approach is able to handle simultaneously energy constraints to ensure passivity, as well as enforce power limits in the system to enhance safety. Furthermore, our approach overcomes the discrete switching nature of classical energy tanks, ensuring smooth control commands. To achieve our desiderata, we formulate our tank as a second order dynamical system, where we exploit CBF and Higher-Order CBF to obtain theoretical guarantees on fulfilling the energy and power constraints in the system. Furthermore, we derive conditions related to our tank design in order to ensure the passivity of the controlled robot. Our proposed approach is tested in a series of robot experiments where we validate our approach on tasks such variable stiffness and force control, and in a scenario where it is desired to constrain the kinetic energy in the system.
更多查看译文
关键词
Energy tanks,passivity-based control,safety-aware robotics
AI 理解论文
溯源树
样例
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要