Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza, Ioannis Georgilas, Tom Richardson

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)
285 Downloads (Pure)


Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Number of pages11
Edition Lecture Notes in Computer Science
ISBN (Electronic)9783030238070
ISBN (Print)9783030238063
Publication statusPublished - 28 Jun 2019
EventTowards Autonomous Robotic Systems (TAROS 2019) - Queen Mary, Queen Mary University of London, London, United Kingdom
Duration: 3 Jul 20195 Jul 2019
Conference number: 20

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11649 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceTowards Autonomous Robotic Systems (TAROS 2019)
Abbreviated titleTAROS 2019
Country/TerritoryUnited Kingdom
Internet address

Structured keywords

  • Engineering Education Research Group


  • Robotics Manipulation
  • Mechatronics
  • Compliance
  • Control


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