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Updated: Nov 19, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
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A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures
Stefan S Groothuis1, Gerrit A Folkertsma1, Stefano Stramigioli1,2
1Robotics and Mechatronics Group, Technical Medical Centre, University of Twente, Enschede, Netherlands.
Frontiers in Robotics and AI
|January 27, 2021
Summary
This study introduces an energy-based control method for robots, inspired by biological systems. It ensures stable robot operation by managing energy budgets for tasks, enhancing robotic system performance and safety.
Area of Science:
- Robotics
- Control Theory
- Biologically Inspired Systems
Background:
- Current robotic control systems often lack a unified approach to energy management.
- Modeling energy exchange during interaction is crucial for robust robotic systems.
Purpose of the Study:
- To propose a unified energy-based modeling and energy-aware control paradigm for robotic systems.
- To develop a universal framework for modeling actuated and interacting robotic systems.
- To implement energy-limited controllers that manage task performance based on energy budgets.
Main Methods:
- Developed a universal framework for modeling robotic systems based on energy principles.
- Designed controllers that operate within defined energy budgets.
- Ensured system passivity and stability through energy budget management.
Main Results:
- Demonstrated a unified energy-based modeling and control paradigm for robots.
- Validated the effectiveness of energy-aware control through experimental results.
- Showcased controllers that manage energy budgets to achieve desired tasks while ensuring stability.
Conclusions:
- The proposed energy-based framework provides a unified approach to robotic modeling and control.
- Energy-aware control, utilizing energy budgets, enhances robotic system performance and stability.
- The biologically inspired paradigm offers a promising direction for future robotic system design.
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