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

Ideally, a robot controller should not only be designed to exhibit a given interaction behavior under controlled conditions, but also to be robust to changes e.g. in the environment. Within the paradigm of virtual energy tanks for passivity-based controls, robustness may be provided by setting absolute limits on the tank energy. However, an energy limit alone does not prevent a sudden drain of the...