Energy-based Safety in Series Elastic Actuation
Wesley Roozing,Stefan S. Groothuis,Stefano Stramigioli,Wesley Roozing,Stefan S. Groothuis,Stefano Stramigioli
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 ...
