Energy-based Safety in Series Elastic Actuation

This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and po...

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Bibliographic Details
Main Authors: Roozing, Wesley, Groothuis, Stefan S., Stramigioli, Stefano
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Energy storage
Impedance
Robots
Safety
Torque
Online Access:Request full text
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Summary:This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows in series-elastic actuation is presented and an appropriate controller is developed. Experimental results validate the effectiveness of the energy-based safety in elastic actuation.
ISSN:2577-087X
DOI:10.1109/ICRA40945.2020.9197448