{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:16:17Z","timestamp":1784301377982,"version":"3.55.0"},"publisher-location":"Cham","reference-count":37,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783031227301","type":"print"},{"value":"9783031227318","type":"electronic"}],"license":[{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023]]},"DOI":"10.1007\/978-3-031-22731-8_13","type":"book-chapter","created":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T11:08:15Z","timestamp":1672571295000},"page":"174-188","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["On the Use of Energy Tanks for Robotic Systems"],"prefix":"10.1007","author":[{"given":"Federico","family":"Califano","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ramy","family":"Rashad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cristian","family":"Secchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefano","family":"Stramigioli","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,1,2]]},"reference":[{"key":"13_CR1","doi-asserted-by":"crossref","unstructured":"Benzi, F., Ferraguti, F., Riggio, G., Secchi, C.: An energy-based control architecture for shared autonomy. IEEE Trans. Robot. 1\u201319 (2022)","DOI":"10.1109\/TRO.2022.3180885"},{"key":"13_CR2","doi-asserted-by":"crossref","unstructured":"Brunner, M., Giacomini, L., Siegwart, R., Tognon, M.: Energy tank-based policies for robust aerial physical interaction with moving objects, pp. 2054\u20132060 (2022)","DOI":"10.1109\/ICRA46639.2022.9812342"},{"issue":"4","key":"13_CR3","doi-asserted-by":"publisher","first-page":"8791","DOI":"10.1109\/LRA.2022.3187254","volume":"7","author":"F Califano","year":"2022","unstructured":"Califano, F., van Dijk, D., Roozing, W.: A task-based post-impact safety protocol based on energy tanks. IEEE Robot. Autom. Lett. 7(4), 8791\u20138798 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"13_CR4","doi-asserted-by":"publisher","first-page":"1356","DOI":"10.1109\/LRA.2021.3139951","volume":"7","author":"B Capelli","year":"2022","unstructured":"Capelli, B., Secchi, C., Sabattini, L.: Passivity and control barrier functions: optimizing the use of energy. IEEE Robot. Autom. Lett. 7(2), 1356\u20131363 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"13_CR5","doi-asserted-by":"publisher","first-page":"522","DOI":"10.1109\/LRA.2016.2645504","volume":"2","author":"A Dietrich","year":"2017","unstructured":"Dietrich, A., Xuwei, W., Bussmann, K., Ott, C., Albu-Schffer, A., Stramigioli, S.: Passive hierarchical impedance control via energy tanks. IEEE Robot. Autom. Lett. 2(2), 522\u2013529 (2017)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"13_CR6","doi-asserted-by":"crossref","unstructured":"Duindam, V., Macchelli, A., Stramigioli, S., Bruyninckx, H.: Modeling and Control of Complex Physical Systems (2009)","DOI":"10.1007\/978-3-642-03196-0"},{"issue":"5","key":"13_CR7","doi-asserted-by":"publisher","first-page":"411","DOI":"10.3166\/ejc.10.411-420","volume":"10","author":"V Duindam","year":"2004","unstructured":"Duindam, V., Stramigioli, S.: Port-based asymptotic curve tracking for mechanical systems. Eur. J. Control 10(5), 411\u2013420 (2004)","journal-title":"Eur. J. Control"},{"issue":"5","key":"13_CR8","doi-asserted-by":"publisher","first-page":"1073","DOI":"10.1109\/TRO.2015.2455791","volume":"31","author":"F Ferraguti","year":"2015","unstructured":"Ferraguti, F., Preda, N., Manurung, A., Bonfe, M., Lambercy, O., Gassert, R., Muradore, R., Fiorini, P., Secchi, C.: An energy tank-based interactive control architecture for autonomous and teleoperated robotic surgery. IEEE Trans. Robot. 31(5), 1073\u20131088 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"13_CR9","doi-asserted-by":"crossref","unstructured":"Ferraguti, F., Secchi, C., Fantuzzi, C.: A tank-based approach to impedance control with variable stiffness. In: Proceedings\u2014IEEE International Conference on Robotics and Automation, pp. 4948\u20134953 (2013)","DOI":"10.1109\/ICRA.2013.6631284"},{"key":"13_CR10","doi-asserted-by":"crossref","unstructured":"Montbrun-Di Filippo, J., Delgado, M., Brie, C., Paynter, H.M.: A survey of bond graphs : theory, applications and programs. J. Franklin Inst. 328(5):565\u2013606 (1991)","DOI":"10.1016\/0016-0032(91)90044-4"},{"key":"13_CR11","doi-asserted-by":"crossref","unstructured":"Franchi, A., Secchi, C., Son, H.I., B\u00fclthoff, H.H., Giordano, P.R.: Bilateral teleoperation of groups of mobile robots with time-varying topology. IEEE Trans. Robot. 28(5), 1019\u20131033 (2012)","DOI":"10.1109\/TRO.2012.2196304"},{"issue":"4","key":"13_CR12","doi-asserted-by":"publisher","first-page":"741","DOI":"10.1109\/TRO.2011.2142430","volume":"27","author":"M Franken","year":"2011","unstructured":"Franken, M., Stramigioli, S., Misra, S., Secchi, C., MacChelli, A.: Bilateral telemanipulation with time delays: a two-layer approach combining passivity and transparency. IEEE Trans. Robot. 27(4), 741\u2013756 (2011)","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"13_CR13","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1109\/TRO.2017.2769123","volume":"34","author":"D Heck","year":"2018","unstructured":"Heck, D., Saccon, A., Beerens, R., Nijmeijer, H.: Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays. IEEE Trans. Robot. 34(1), 194\u2013206 (2018)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"13_CR14","doi-asserted-by":"publisher","first-page":"3789","DOI":"10.1109\/LRA.2018.2856536","volume":"3","author":"T Kastritsi","year":"2018","unstructured":"Kastritsi, T., Dimeas, F., Doulgeri, Z.: Progressive automation with DMP synchronization and variable stiffness control. IEEE Robot. Autom. Lett. 3(4), 3789\u20133796 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"13_CR15","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1109\/LRA.2015.2509025","volume":"1","author":"K Kronander","year":"2016","unstructured":"Kronander, K., Billard, A.: Passive interaction control with dynamical systems. IEEE Robot. Autom. Lett. 1(1), 106\u2013113 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"13_CR16","doi-asserted-by":"crossref","unstructured":"Mersha, A.Y., Stramigioli, S., Carloni, R.: On bilateral teleoperation of aerial robots. IEEE Trans. Robot. 30(1), 258\u2013274 (2014)","DOI":"10.1109\/TRO.2013.2281563"},{"issue":"3","key":"13_CR17","doi-asserted-by":"publisher","first-page":"1622","DOI":"10.1109\/TMECH.2020.2981625","volume":"25","author":"M Najafi","year":"2020","unstructured":"Najafi, M., Rossa, C., Adams, K., Tavakoli, M.: Using Potential field function with a velocity field controller to learn and reproduce the therapist\u2019s assistance in robot-assisted rehabilitation. IEEE\/ASME Trans. Mechatron. 25(3), 1622\u20131633 (2020)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"4","key":"13_CR18","doi-asserted-by":"publisher","first-page":"397","DOI":"10.1109\/TOH.2015.2457927","volume":"8","author":"C Pacchierotti","year":"2015","unstructured":"Pacchierotti, C., Tirmizi, A., Bianchini, G., Prattichizzo, D.: Enhancing the performance of passive teleoperation systems via cutaneous feedback. IEEE Trans. Haptics 8(4), 397\u2013409 (2015)","journal-title":"IEEE Trans. Haptics"},{"key":"13_CR19","doi-asserted-by":"crossref","unstructured":"Raiola, G., Cardenas, C.A., Tadele, T.S., De\u00a0Vries, T., Stramigioli, S.: Development of a safety- and energy-aware impedance controller for collaborative robots. IEEE Robot. Autom. Lett. 3(2), 1237\u20131244 (2018)","DOI":"10.1109\/LRA.2018.2795639"},{"key":"13_CR20","doi-asserted-by":"crossref","unstructured":"Rashad, R., Engelen, J.B.C., Stramigioli, S.: Energy tank-based wrench\/impedance control of a fully-actuated hexarotor: a geometric port-hamiltonian approach. In: Proceedings\u2014IEEE International Conference on Robotics and Automation, vol. 2019 (2019)","DOI":"10.1109\/ICRA.2019.8793939"},{"key":"13_CR21","doi-asserted-by":"crossref","unstructured":"Rashad, R., Bicego, D., Zult, J., Sanchez-Escalonilla, S., Jiao, R., Franchi, A., Member, S., Stramigioli, S.: Energy aware impedance control of a flying end-effector in the Port-Hamiltonian framework. IEEE Trans. Robot. (In press) (2022)","DOI":"10.1109\/TRO.2022.3183532"},{"key":"13_CR22","doi-asserted-by":"crossref","unstructured":"Riggio, G., Fantuzzi, C., Secchi, C.: On the use of energy tanks for multi-robot interconnection. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3738\u20133743 (2018)","DOI":"10.1109\/IROS.2018.8594262"},{"key":"13_CR23","doi-asserted-by":"crossref","unstructured":"Risiglione, M., Sleiman, J.P., Minniti, M.V., Cizmeci, B., Dresscher, D., Hutter, M.: Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays. In: IEEE International Conference on Intelligent Robots and Systems, pp 5276\u20135281 (2021)","DOI":"10.1109\/IROS51168.2021.9636642"},{"key":"13_CR24","doi-asserted-by":"crossref","unstructured":"Schindlbeck, C., Haddadin, S.: Unified passivity-based Cartesian force\/impedance control for rigid and flexible joint robots via task-energy tanks. In: Proc. Int. Conf. Robot. Autom. 2015, 440\u2013447 (2015)","DOI":"10.1109\/ICRA.2015.7139036"},{"issue":"12","key":"13_CR25","doi-asserted-by":"publisher","first-page":"474","DOI":"10.3182\/20070822-3-ZA-2920.00078","volume":"40","author":"C Secchi","year":"2007","unstructured":"Secchi, C., Stramigioli, S., Fantuzzi, C.: Port-contact systems in bilateral telemanipulation. IFAC Proc. Volumes 40(12), 474\u2013479 (2007)","journal-title":"IFAC Proc. Volumes"},{"key":"13_CR26","doi-asserted-by":"crossref","unstructured":"Secchi, C., Stramigioli, S., Fantuzzi, C.: Position drift compensation in port-Hamiltonian based telemanipulation. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4211\u20134216 (2006)","DOI":"10.1109\/IROS.2006.281915"},{"key":"13_CR27","doi-asserted-by":"crossref","unstructured":"Selvaggio, M., Robuffo\u00a0Giordano, P., Ficuciellol, F., Siciliano, B.: Passive task-prioritized shared-control teleoperation with haptic guidance. In: Proceedings\u2014IEEE International Conference on Robotics and Automation, pp. 430\u2013436 (2019)","DOI":"10.1109\/ICRA.2019.8794197"},{"key":"13_CR28","doi-asserted-by":"crossref","unstructured":"Selvaggio, M., Notomista, G., Chen, F., Gao, B., Trapani, F., Caldwell, D.: Enhancing bilateral teleoperation using camera-based online virtual fixtures generation. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1483\u20131488 (2016)","DOI":"10.1109\/IROS.2016.7759241"},{"issue":"2","key":"13_CR29","doi-asserted-by":"publisher","first-page":"2194","DOI":"10.1109\/LRA.2022.3142903","volume":"7","author":"E Shahriari","year":"2022","unstructured":"Shahriari, E., Birjandi, S.A.B., Haddadin, S.: Passivity-based adaptive force-impedance control for modular multi-manual object manipulation. IEEE Robot. Autom. Lett. 7(2), 2194\u20132201 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"13_CR30","doi-asserted-by":"crossref","unstructured":"Shahriari, E., Johannsmeier, L., Haddadin, S.: Valve-based virtual energy tanks: a framework to simultaneously passify controls and embed control objectives. In: Proceedings of the American Control Conference, pp. 3634\u20133641 (2018)","DOI":"10.23919\/ACC.2018.8431718"},{"issue":"1","key":"13_CR31","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1109\/LRA.2019.2953662","volume":"5","author":"E Shahriari","year":"2020","unstructured":"Shahriari, E., Johannsmeier, L., Jensen, E., Haddadin, S.: Power flow regulation, adaptation, and learning for intrinsically robust virtual energy tanks. IEEE Robot. Autom. Lett. 5(1), 211\u2013218 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"13_CR32","first-page":"37","volume":"461","author":"S Stramigioli","year":"2015","unstructured":"Stramigioli, S.: Energy-aware robotics. In: Lecture Notes in Control and Information Sciences 461, 37\u201350 (2015)","journal-title":"In: Lecture Notes in Control and Information Sciences"},{"key":"13_CR33","doi-asserted-by":"crossref","unstructured":"Su, H., Schmirander, Y., Li, Z., Zhou, X., Ferrigno, G., De\u00a0Momi, E.: Bilateral teleoperation control of a redundant manipulator with an RCM Kinematic constraint. In: Proceedings\u2014IEEE International Conference on Robotics and Automation, pp. 4477\u20134482 (2020)","DOI":"10.1109\/ICRA40945.2020.9197267"},{"key":"13_CR34","doi-asserted-by":"crossref","unstructured":"Tadele, T.S., De\u00a0Vries, T.J.A., Stramigioli, S.: Combining energy and power based safety metrics in controller design for domestic robots. In: Proceedings\u2014IEEE International Conference on Robotics and Automation, pp. 1209\u20131214 (2014)","DOI":"10.1109\/ICRA.2014.6907007"},{"key":"13_CR35","volume-title":"L2-Gain and Passivity Techniques in Nonlinear Control","author":"A van der Schaft","year":"2016","unstructured":"van der Schaft, A.: L2-Gain and Passivity Techniques in Nonlinear Control, 3rd edn. Springer Publishing Company, Incorporated (2016)","edition":"3"},{"key":"13_CR36","doi-asserted-by":"crossref","unstructured":"Zhang, D., Tron, R.: Stable haptic teleoperation of UAVs via small L2 gain and control barrier functions. In: IEEE International Conference on Intelligent Robots and Systems, pp. 8352\u20138357 (2021)","DOI":"10.1109\/IROS51168.2021.9635952"},{"key":"13_CR37","doi-asserted-by":"crossref","unstructured":"Zheng, M., Yuan, T., Huang, T.: Time-varying impedance control of Port Hamiltonian system with a new energy-storing tank. Complexity (2018)","DOI":"10.1155\/2018\/8134230"}],"container-title":["Springer Proceedings in Advanced Robotics","Human-Friendly Robotics 2022"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-22731-8_13","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T13:21:09Z","timestamp":1672579269000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-22731-8_13"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023]]},"ISBN":["9783031227301","9783031227318"],"references-count":37,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-22731-8_13","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023]]},"assertion":[{"value":"2 January 2023","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"HFR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Workshop on Human-Friendly Robotics","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Delft","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The Netherlands","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 September 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"23 September 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"15","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"hfr2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/sites.google.com\/view\/hfr2022\/home","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}