{"id":270,"date":"2023-02-01T03:37:00","date_gmt":"2023-02-01T02:37:00","guid":{"rendered":"https:\/\/ramyrashad.com\/?p=270"},"modified":"2023-07-28T18:02:56","modified_gmt":"2023-07-28T17:02:56","slug":"introduction-to-energy-tanks","status":"publish","type":"post","link":"https:\/\/ramyrashad.com\/index.php\/2023\/02\/01\/introduction-to-energy-tanks\/","title":{"rendered":"Introduction to Energy Tanks"},"content":{"rendered":"\n<p><strong>Research Overview<\/strong><\/p>\n\n\n\n<p>In this work we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. In order to understand in an insightful way the idea behind energy tanks, we introduce it within its originating system theoretic fields, i.e., the port-Hamiltonian framework and passivity-based control.<\/p>\n\n\n\n<p><strong>Publications<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Federico Califano, Ramy Rashad, Cristian Secchi, Stefano Stramigioli&nbsp;(2023)&nbsp;On the Use of Energy Tanks for Robotic Systems,&nbsp;Human-Friendly Robotics 2022,&nbsp;Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta (ed.),&nbsp;p. 174-188,&nbsp;Cham: Springer International Publishing,&nbsp;<a target=\"_blank\" href=\"https:\/\/doi.org\/10.1007\/978-3-031-22731-8_13\" rel=\"noreferrer noopener\">doi:10.1007\/978-3-031-22731-8_13<\/a><\/td><\/tr><tr><\/tr><\/tbody><\/table><\/figure>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/image.png\" alt=\"\" class=\"wp-image-332\" width=\"672\" height=\"506\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/image.png 860w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/image-300x226.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure><\/div>","protected":false},"excerpt":{"rendered":"<p>Research Overview In this work we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":288,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"ub_ctt_via":"","_mi_skip_tracking":false,"footnotes":""},"categories":[15],"tags":[],"aioseo_notices":[],"featured_image_src":"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/eTanks.png","author_info":{"display_name":"Ramy","author_link":"https:\/\/ramyrashad.com\/index.php\/author\/ramy-abdelmonemgmail-com\/"},"_links":{"self":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/270"}],"collection":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/comments?post=270"}],"version-history":[{"count":3,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/270\/revisions"}],"predecessor-version":[{"id":334,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/270\/revisions\/334"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media\/288"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=270"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/categories?post=270"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/tags?post=270"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}