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.
Control of Interactive Robotic Interfaces: a port-Hamiltonian approach / Secchi, Cristian; S., Stramigioli; Fantuzzi, Cesare. - STAMPA. - (2007), pp. 1-233.
Data di pubblicazione: | 2007 |
Titolo: | Control of Interactive Robotic Interfaces: a port-Hamiltonian approach |
Autore/i: | Secchi, Cristian; S., Stramigioli; Fantuzzi, Cesare |
Autore/i UNIMORE: | |
ISBN: | 9783540497127 |
Editore: | Springer |
Nazione editore: | GERMANIA |
Citazione: | Control of Interactive Robotic Interfaces: a port-Hamiltonian approach / Secchi, Cristian; S., Stramigioli; Fantuzzi, Cesare. - STAMPA. - (2007), pp. 1-233. |
Tipologia | Monografia/Trattato scientifico |
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