Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

By Stefano Stramigioli, Cristian Secchi, Cesare Fantuzzi

Book Overview

This monograph deals with energy based control of interactive robotic interfaces and the port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Using the port-Hamiltonian framework, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that properly regulates the robotic interface by shaping its energetic properties.

Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed.

• Format: Paperback
• Language: English
• ISBN: 3642080618
• ISBN13: 9783642080616
• Release Date: November 2010
• Publisher: Springer
• Length: 233 Pages
• Weight: 0.81 lbs.
• Dimensions: 0.6" x 6.1" x 9.2"