论文标题
关于机器人系统的能源箱的使用
On the use of energy tanks for robotic systems
论文作者
论文摘要
在本文档中，我们描述和讨论了能源罐，这是一种控制算法，在过去的几年中，机器人和控制社区内广受欢迎。本文具有i）以简单而精确的方式向读者介绍该主题的三倍范围，从贯穿能量感知框架的整个描述开始，能量坦克找到了它们的起源； ii）总结能源罐的应用范围，包括有关这些能源的不同配方的原始反思； iii）讨论涉及能源罐和能源感受控制的极限和未来挑战。
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) introducing to the reader the topic in a simple yet precise way, starting with a throughout description of the energy-aware framework, where energy tanks find their genesis; ii) summarising the range of applications of energy tanks, including an original reflection about different formulations of those; iii) discussing limits and future challenges involving energy tanks and energy-aware control in general.
