Scope of this project

The use of energy-based methods in robotics offers numerous advantages that have motivated their widespread adoption. Energy is a fundamental concept governing interactions in physical systems, and in robotics, where safety, efficiency, and adaptability are paramount, considering energy becomes crucial. By treating robotic systems as entities that exchange energy rather than just processing signals, energy-based methods provide a more insightful and physically meaningful approach to control and design. These methods ensure stable interactions with the environment, allow for efficient energy usage, and enable robots to operate safely in various conditions. Over the last three decades, energy-based methods have garnered significant attention in engineering practice and robot control theory due to their effectiveness in addressing complex control problems in robotics.

However, researchers approaching the topic for the first time may encounter significant theoretical and practical challenges due to the interdisciplinary nature of energy-based control methods and the diverse skills required to master them. Theoretical challenges arise from the need to understand concepts like nonlinear control theory, differential geometry, Hamiltonian mechanics, port-based modeling, dissipativity theory, bond graphs, etc. Additionally, grasping how these theories translate into practical implementations can be daunting without proper guidance.

Website Overview:

The goal of this website is to provide educational contents specifically designed for researchers venturing into energy-based control methods.

• Theoretical notes on the principles behind energy-based control, offering a strong conceptual foundation.
• Video lectures that explain energy-based physical modeling, focusing on how to model and control 3D multi-body systems using energy-based approaches.

In the future we will also provide:

• Snippets of code and practical examples that illustrate how these theoretical concepts can be applied, enabling researchers to gain hands-on experience.
• Examples of implementation on real hardware of fundamental theoretical concepts and more advanced techniques. These “test benches” will be correlated with datasheets and include step-by-step instructions to recreate the setup.