{"id":"https://openalex.org/W2986851775","doi":"https://doi.org/10.1109/lra.2019.2953662","title":"Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks","display_name":"Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks","publication_year":2019,"publication_date":"2019-11-15","ids":{"openalex":"https://openalex.org/W2986851775","doi":"https://doi.org/10.1109/lra.2019.2953662","mag":"2986851775"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2953662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2953662","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030977955","display_name":"Erfan Shahriari","orcid":"https://orcid.org/0000-0002-2980-135X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Erfan Shahriari","raw_affiliation_strings":["School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063169662","display_name":"Lars Johannsmeier","orcid":"https://orcid.org/0000-0003-4599-7636"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lars Johannsmeier","raw_affiliation_strings":["School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027375025","display_name":"Elisabeth Jensen","orcid":"https://orcid.org/0000-0002-5998-6375"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elisabeth Jensen","raw_affiliation_strings":["School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030977955"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.1849,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.88195112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"1","first_page":"211","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7314084768295288},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7064988017082214},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6675613522529602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5611586570739746},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5274598598480225},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5212464928627014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.51528000831604},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.5096530914306641},{"id":"https://openalex.org/keywords/electric-power-system","display_name":"Electric power system","score":0.5085347890853882},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.47191575169563293},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.394338995218277},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.356253981590271},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2636827230453491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2557057738304138},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19377431273460388},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13095346093177795}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7314084768295288},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7064988017082214},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6675613522529602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5611586570739746},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5274598598480225},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5212464928627014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.51528000831604},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5096530914306641},{"id":"https://openalex.org/C89227174","wikidata":"https://www.wikidata.org/wiki/Q2388981","display_name":"Electric power system","level":3,"score":0.5085347890853882},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.47191575169563293},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.394338995218277},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.356253981590271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2636827230453491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2557057738304138},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19377431273460388},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13095346093177795},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2953662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2953662","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G5571919141","display_name":null,"funder_award_id":"IKT 2020","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"},{"id":"https://openalex.org/G97866649","display_name":null,"funder_award_id":"V4IIP003","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"},{"id":"https://openalex.org/F4320323223","display_name":"Alfried Krupp von Bohlen und Halbach-Stiftung","ror":"https://ror.org/04y7h3604"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1541925238","https://openalex.org/W2048270103","https://openalex.org/W2057538835","https://openalex.org/W2104275118","https://openalex.org/W2107799372","https://openalex.org/W2116822311","https://openalex.org/W2154174243","https://openalex.org/W2276351576","https://openalex.org/W2296039882","https://openalex.org/W2419062238","https://openalex.org/W2564855576","https://openalex.org/W2782580911","https://openalex.org/W2885923137","https://openalex.org/W2909171960","https://openalex.org/W2909404881","https://openalex.org/W2948064301"],"related_works":["https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2792365087","https://openalex.org/W4288558741","https://openalex.org/W4288281267","https://openalex.org/W3088040463"],"abstract_inverted_index":{"Ideally,":[0],"a":[1,11,59,69,102,108,144],"robot":[2,148],"controller":[3],"should":[4],"not":[5,57],"only":[6],"be":[7,21,41],"designed":[8],"to":[9,20,23,101,110,115,128],"exhibit":[10],"given":[12],"interaction":[13,153],"behavior":[14],"under":[15],"controlled":[16],"conditions,":[17],"but":[18],"also":[19],"robust":[22,127],"changes":[24],"e.g.":[25],"in":[26,68,78,135],"the":[27,30,48,63,79,90,94,98,118,136,139,156],"environment.":[28],"Within":[29],"paradigm":[31],"of":[32,62,72],"virtual":[33],"energy":[34,53,76,95],"tanks":[35],"for":[36],"passivity-based":[37],"controls,":[38],"robustness":[39],"may":[40,66],"provided":[42],"by":[43,88],"setting":[44],"absolute":[45],"limits":[46],"on":[47],"tank":[49,96],"energy.":[50],"However,":[51],"an":[52,150],"limit":[54],"alone":[55],"does":[56],"prevent":[58],"sudden":[60,70],"drain":[61],"tank,":[64],"which":[65],"result":[67],"increase":[71],"potentially":[73],"problematic,":[74],"passivity-violating":[75],"somewhere":[77],"system.":[80,140],"In":[81],"this":[82,86,112],"letter,":[83],"we":[84],"tackle":[85],"problem":[87],"regulating":[89],"exchanged":[91],"power":[92,104],"between":[93],"and":[97,114,126,131],"system":[99,123],"according":[100],"reference":[103],"trajectory.":[105],"We":[106],"propose":[107],"method":[109],"encode":[111],"trajectory":[113],"conservatively":[116],"learn":[117],"corresponding":[119],"parameters.":[120],"The":[121],"resulting":[122],"is":[124],"adaptable":[125],"both":[129],"predicted":[130],"unpredicted":[132],"changes,":[133],"either":[134],"environment":[137],"or":[138],"Experimental":[141],"results":[142],"with":[143,159],"Franka":[145],"Emika":[146],"Panda":[147],"performing":[149],"exemplary":[151],"force-based":[152],"task":[154],"validate":[155],"performance":[157],"improvement":[158],"our":[160],"method.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}